| 1 | /* |
| 2 | * File: motor.c |
| 3 | * |
| 4 | * Code generated for Simulink model 'motor'. |
| 5 | * |
| 6 | * Model version : 1.787 |
| 7 | * Simulink Coder version : 8.9 (R2015b) 13-Aug-2015 |
| 8 | * C/C++ source code generated on : Wed Oct 23 22:04:43 2019 |
| 9 | * |
| 10 | * Target selection: ert.tlc |
| 11 | * Embedded hardware selection: ARM Compatible->ARM Cortex |
| 12 | * Code generation objectives: Unspecified |
| 13 | * Validation result: Not run |
| 14 | */ |
| 15 | |
| 16 | #include "motor.h" |
| 17 | #include "motor_private.h" |
| 18 | |
| 19 | /* Named constants for Chart: '<Root>/Chart' */ |
| 20 | #define motor_IN_Algorithm ((uint8_T)1U) |
| 21 | #define motor_IN_Calibration ((uint8_T)1U) |
| 22 | #define motor_IN_Check_Reset ((uint8_T)1U) |
| 23 | #define motor_IN_Close ((uint8_T)1U) |
| 24 | #define motor_IN_Close_Wait ((uint8_T)2U) |
| 25 | #define motor_IN_Defualt ((uint8_T)1U) |
| 26 | #define motor_IN_Defualt1 ((uint8_T)1U) |
| 27 | #define motor_IN_Defult ((uint8_T)1U) |
| 28 | #define motor_IN_Defult1 ((uint8_T)2U) |
| 29 | #define motor_IN_Defult2 ((uint8_T)3U) |
| 30 | #define motor_IN_Dspace_Test ((uint8_T)2U) |
| 31 | #define motor_IN_Elevation_Test ((uint8_T)3U) |
| 32 | #define motor_IN_Error_Check ((uint8_T)1U) |
| 33 | #define motor_IN_HY ((uint8_T)2U) |
| 34 | #define motor_IN_HYDG_Close ((uint8_T)1U) |
| 35 | #define motor_IN_HY_f ((uint8_T)1U) |
| 36 | #define motor_IN_Initialize ((uint8_T)2U) |
| 37 | #define motor_IN_Int ((uint8_T)1U) |
| 38 | #define motor_IN_Int1 ((uint8_T)2U) |
| 39 | #define motor_IN_Int1_d ((uint8_T)3U) |
| 40 | #define motor_IN_Int2 ((uint8_T)4U) |
| 41 | #define motor_IN_Int2_i ((uint8_T)3U) |
| 42 | #define motor_IN_Int3 ((uint8_T)3U) |
| 43 | #define motor_IN_Int3_l ((uint8_T)4U) |
| 44 | #define motor_IN_Int4 ((uint8_T)4U) |
| 45 | #define motor_IN_Int4_b ((uint8_T)5U) |
| 46 | #define motor_IN_Int5 ((uint8_T)5U) |
| 47 | #define motor_IN_Int5_a ((uint8_T)6U) |
| 48 | #define motor_IN_Int6 ((uint8_T)6U) |
| 49 | #define motor_IN_Int6_m ((uint8_T)7U) |
| 50 | #define motor_IN_Int7 ((uint8_T)8U) |
| 51 | #define motor_IN_Int8 ((uint8_T)9U) |
| 52 | #define motor_IN_Int_k ((uint8_T)2U) |
| 53 | #define motor_IN_Limit_Down_Test ((uint8_T)4U) |
| 54 | #define motor_IN_Limit_Down_Test_f ((uint8_T)3U) |
| 55 | #define motor_IN_Limit_Up_Test ((uint8_T)5U) |
| 56 | #define motor_IN_Limit_Up_Test_k ((uint8_T)4U) |
| 57 | #define motor_IN_NO_ACTIVE_CHILD ((uint8_T)0U) |
| 58 | #define motor_IN_Normal_Mode ((uint8_T)3U) |
| 59 | #define motor_IN_P1 ((uint8_T)1U) |
| 60 | #define motor_IN_P10 ((uint8_T)2U) |
| 61 | #define motor_IN_P11 ((uint8_T)3U) |
| 62 | #define motor_IN_P12 ((uint8_T)4U) |
| 63 | #define motor_IN_P2 ((uint8_T)4U) |
| 64 | #define motor_IN_P2_a ((uint8_T)5U) |
| 65 | #define motor_IN_P3 ((uint8_T)5U) |
| 66 | #define motor_IN_P3_k ((uint8_T)6U) |
| 67 | #define motor_IN_P4 ((uint8_T)6U) |
| 68 | #define motor_IN_P4_o ((uint8_T)7U) |
| 69 | #define motor_IN_P5 ((uint8_T)7U) |
| 70 | #define motor_IN_P5_n ((uint8_T)8U) |
| 71 | #define motor_IN_P8 ((uint8_T)8U) |
| 72 | #define motor_IN_P8_e ((uint8_T)9U) |
| 73 | #define motor_IN_PID_parameters1 ((uint8_T)1U) |
| 74 | #define motor_IN_PID_parameters2 ((uint8_T)2U) |
| 75 | #define motor_IN_PID_parameters3 ((uint8_T)3U) |
| 76 | #define motor_IN_Parameters_Reset ((uint8_T)2U) |
| 77 | #define motor_IN_Parameters_Reset0 ((uint8_T)3U) |
| 78 | #define motor_IN_QDQ_BJ ((uint8_T)1U) |
| 79 | #define motor_IN_QDQ_GZ ((uint8_T)2U) |
| 80 | #define motor_IN_RUN ((uint8_T)1U) |
| 81 | #define motor_IN_Ready ((uint8_T)1U) |
| 82 | #define motor_IN_Ready_Run ((uint8_T)2U) |
| 83 | #define motor_IN_Showing_Mode ((uint8_T)4U) |
| 84 | #define motor_IN_Sleeping_protect_1 ((uint8_T)1U) |
| 85 | #define motor_IN_Sleeping_protect_1_h ((uint8_T)2U) |
| 86 | #define motor_IN_Sleeping_protect_2 ((uint8_T)2U) |
| 87 | #define motor_IN_Sleeping_protect_2_m ((uint8_T)3U) |
| 88 | #define motor_IN_Sleeping_protect_3 ((uint8_T)3U) |
| 89 | #define motor_IN_Sleeping_protect_3_f ((uint8_T)4U) |
| 90 | #define motor_IN_Start ((uint8_T)2U) |
| 91 | #define motor_IN_Test_Mode ((uint8_T)5U) |
| 92 | #define motor_IN_XHHY ((uint8_T)3U) |
| 93 | #define motor_IN_XHHY_Close ((uint8_T)2U) |
| 94 | #define motor_IN_XHHY_Error ((uint8_T)5U) |
| 95 | #define motor_IN_XHHY_Error1 ((uint8_T)4U) |
| 96 | #define motor_IN_XHHY_Run ((uint8_T)5U) |
| 97 | #define motor_IN_XHHY_Run1 ((uint8_T)6U) |
| 98 | #define motor_IN_XHHY_Run1_d ((uint8_T)7U) |
| 99 | #define motor_IN_XHHY_Run_e ((uint8_T)6U) |
| 100 | #define motor_IN_XHHY_Wait ((uint8_T)7U) |
| 101 | #define motor_IN_XHHY_Wait1 ((uint8_T)8U) |
| 102 | #define motor_IN_XHHY_Wait2 ((uint8_T)9U) |
| 103 | #define motor_IN_XHHY_Wait_g ((uint8_T)8U) |
| 104 | #define motor_IN_XHHY_m ((uint8_T)5U) |
| 105 | #define motor_IN_XHHY_m1 ((uint8_T)2U) |
| 106 | #define motor_IN_XHZY ((uint8_T)4U) |
| 107 | #define motor_IN_XHZY_Close ((uint8_T)3U) |
| 108 | #define motor_IN_XHZY_Close1 ((uint8_T)6U) |
| 109 | #define motor_IN_XHZY_Close1_f ((uint8_T)3U) |
| 110 | #define motor_IN_XHZY_Close_c ((uint8_T)5U) |
| 111 | #define motor_IN_XHZY_Close_cm ((uint8_T)2U) |
| 112 | #define motor_IN_XHZY_Error ((uint8_T)7U) |
| 113 | #define motor_IN_XHZY_Error1 ((uint8_T)4U) |
| 114 | #define motor_IN_XHZY_Error_f ((uint8_T)4U) |
| 115 | #define motor_IN_XHZY_Error_fb ((uint8_T)5U) |
| 116 | #define motor_IN_XHZY_Run ((uint8_T)5U) |
| 117 | #define motor_IN_XHZY_Run1 ((uint8_T)6U) |
| 118 | #define motor_IN_XHZY_Run1_a ((uint8_T)7U) |
| 119 | #define motor_IN_XHZY_Run_i ((uint8_T)6U) |
| 120 | #define motor_IN_XHZY_Wait ((uint8_T)7U) |
| 121 | #define motor_IN_XHZY_Wait_l ((uint8_T)8U) |
| 122 | #define motor_IN_XHZY_p ((uint8_T)6U) |
| 123 | #define motor_IN_XHZY_pv ((uint8_T)3U) |
| 124 | #define motor_IN_defult ((uint8_T)6U) |
| 125 | #define motor_IN_defult1 ((uint8_T)1U) |
| 126 | #define motor_IN_defult1_k ((uint8_T)2U) |
| 127 | #define motor_IN_defult2 ((uint8_T)2U) |
| 128 | #define motor_IN_defult2_e ((uint8_T)3U) |
| 129 | #define motor_IN_defult3 ((uint8_T)4U) |
| 130 | #define motor_IN_defult4 ((uint8_T)5U) |
| 131 | #define motor_IN_defult_b ((uint8_T)3U) |
| 132 | #define motor_IN_defult_bq ((uint8_T)1U) |
| 133 | #define motor_IN_defult_bqy ((uint8_T)2U) |
| 134 | #define motor_IN_hy ((uint8_T)4U) |
| 135 | #define motor_IN_p1 ((uint8_T)1U) |
| 136 | #define motor_IN_p10 ((uint8_T)10U) |
| 137 | #define motor_IN_p11 ((uint8_T)9U) |
| 138 | #define motor_IN_p11_b ((uint8_T)11U) |
| 139 | #define motor_IN_p12 ((uint8_T)10U) |
| 140 | #define motor_IN_p1_a ((uint8_T)3U) |
| 141 | #define motor_IN_p1_aq ((uint8_T)4U) |
| 142 | #define motor_IN_p1_aqc ((uint8_T)2U) |
| 143 | #define motor_IN_p2 ((uint8_T)2U) |
| 144 | #define motor_IN_p2_k ((uint8_T)5U) |
| 145 | #define motor_IN_p2_kb ((uint8_T)3U) |
| 146 | #define motor_IN_p2_kbn ((uint8_T)1U) |
| 147 | #define motor_IN_p3 ((uint8_T)3U) |
| 148 | #define motor_IN_p3_e ((uint8_T)6U) |
| 149 | #define motor_IN_p3_ex ((uint8_T)4U) |
| 150 | #define motor_IN_p3_exj ((uint8_T)2U) |
| 151 | #define motor_IN_p4 ((uint8_T)4U) |
| 152 | #define motor_IN_p4_n ((uint8_T)7U) |
| 153 | #define motor_IN_p4_nv ((uint8_T)2U) |
| 154 | #define motor_IN_p4_nvu ((uint8_T)3U) |
| 155 | #define motor_IN_p5 ((uint8_T)5U) |
| 156 | #define motor_IN_p5_m ((uint8_T)3U) |
| 157 | #define motor_IN_p6 ((uint8_T)6U) |
| 158 | #define motor_IN_p7 ((uint8_T)7U) |
| 159 | #define motor_IN_r2 ((uint8_T)8U) |
| 160 | #define motor_IN_xhhy ((uint8_T)5U) |
| 161 | #define motor_IN_xhzy ((uint8_T)6U) |
| 162 | |
| 163 | /* Block signals (auto storage) */ |
| 164 | BlockIO_motor motor_B; |
| 165 | |
| 166 | /* Block states (auto storage) */ |
| 167 | D_Work_motor motor_DWork; |
| 168 | |
| 169 | /* External inputs (root inport signals with auto storage) */ |
| 170 | ExternalInputs_motor motor_U; |
| 171 | |
| 172 | /* External outputs (root outports fed by signals with auto storage) */ |
| 173 | ExternalOutputs_motor motor_Y; |
| 174 | |
| 175 | /* Real-time model */ |
| 176 | RT_MODEL_motor motor_M_; |
| 177 | RT_MODEL_motor *const motor_M = &motor_M_; |
| 178 | |
| 179 | /* Forward declaration for local functions */ |
| 180 | static uint8_T motor_Temp_Up_Check(uint16_T In1, uint16_T In2); |
| 181 | static uint8_T motor_Temp_Down_Check(uint16_T In1, uint16_T In2); |
| 182 | static void motor_defult(void); |
| 183 | static void motor_XHZY_as(void); |
| 184 | static void motor_Limit_Down_Test(void); |
| 185 | static void motor_XHZY_a(void); |
| 186 | static void motor_Limit_Up_Test(void); |
| 187 | static void motor_exit_internal_Test_Mode(void); |
| 188 | static uint8_T motor_Init_Result_Check(uint8_T In1, uint8_T In2, real_T In3); |
| 189 | static void motor_hy(void); |
| 190 | static void motor_xhhy(void); |
| 191 | static void motor_Initialize(void); |
| 192 | static void motor_enter_atomic_XHZY_Run(void); |
| 193 | static void motor_enter_atomic_XHZY_Run1(void); |
| 194 | static void motor_exit_internal_Normal_Mode(void); |
| 195 | static void motor_HY(void); |
| 196 | static void motor_XHHY(void); |
| 197 | static void motor_Algorithm_a(void); |
| 198 | static void motor_RUN(void); |
| 199 | static void motor_Normal_Mode(void); |
| 200 | static void moto_exit_internal_Showing_Mode(void); |
| 201 | static void enter_internal_Limit_Down_Test(void); |
| 202 | static void mo_enter_internal_Limit_Up_Test(void); |
| 203 | static void motor_XHZY(void); |
| 204 | static void motor_XHZY_asn(void); |
| 205 | static void motor_Limit_Down_Test_b(void); |
| 206 | static void motor_XHZY_asnq(void); |
| 207 | static void motor_Limit_Up_Test_a(void); |
| 208 | static void motor_XHHY_n(void); |
| 209 | static void motor_Algorithm_ac(void); |
| 210 | static void motor_Showing_Mode(void); |
| 211 | static void motor_Algorithm(void); |
| 212 | static void motor_M_Run(void); |
| 213 | static void motor_Ready_Run(void); |
| 214 | void sMultiWordMul(const uint32_T u1[], int32_T n1, const uint32_T u2[], int32_T |
| 215 | n2, uint32_T y[], int32_T n) |
| 216 | { |
| 217 | int32_T i; |
| 218 | int32_T j; |
| 219 | int32_T k; |
| 220 | int32_T nj; |
| 221 | uint32_T u1i; |
| 222 | uint32_T yk; |
| 223 | uint32_T a1; |
| 224 | uint32_T a0; |
| 225 | uint32_T b1; |
| 226 | uint32_T w10; |
| 227 | uint32_T w01; |
| 228 | uint32_T cb; |
| 229 | boolean_T isNegative1; |
| 230 | boolean_T isNegative2; |
| 231 | uint32_T cb1; |
| 232 | uint32_T cb2; |
| 233 | isNegative1 = ((u1[n1 - 1] & 2147483648U) != 0U); |
| 234 | isNegative2 = ((u2[n2 - 1] & 2147483648U) != 0U); |
| 235 | cb1 = 1U; |
| 236 | |
| 237 | /* Initialize output to zero */ |
| 238 | for (k = 0; k < n; k++) { |
| 239 | y[k] = 0U; |
| 240 | } |
| 241 | |
| 242 | for (i = 0; i < n1; i++) { |
| 243 | cb = 0U; |
| 244 | u1i = u1[i]; |
| 245 | if (isNegative1) { |
| 246 | u1i = ~u1i + cb1; |
| 247 | cb1 = (uint32_T)(u1i < cb1); |
| 248 | } |
| 249 | |
| 250 | a1 = u1i >> 16U; |
| 251 | a0 = u1i & 65535U; |
| 252 | cb2 = 1U; |
| 253 | k = n - i; |
| 254 | nj = n2 <= k ? n2 : k; |
| 255 | k = i; |
| 256 | for (j = 0; j < nj; j++) { |
| 257 | yk = y[k]; |
| 258 | u1i = u2[j]; |
| 259 | if (isNegative2) { |
| 260 | u1i = ~u1i + cb2; |
| 261 | cb2 = (uint32_T)(u1i < cb2); |
| 262 | } |
| 263 | |
| 264 | b1 = u1i >> 16U; |
| 265 | u1i &= 65535U; |
| 266 | w10 = a1 * u1i; |
| 267 | w01 = a0 * b1; |
| 268 | yk += cb; |
| 269 | cb = (uint32_T)(yk < cb); |
| 270 | u1i *= a0; |
| 271 | yk += u1i; |
| 272 | cb += (yk < u1i); |
| 273 | u1i = w10 << 16U; |
| 274 | yk += u1i; |
| 275 | cb += (yk < u1i); |
| 276 | u1i = w01 << 16U; |
| 277 | yk += u1i; |
| 278 | cb += (yk < u1i); |
| 279 | y[k] = yk; |
| 280 | cb += w10 >> 16U; |
| 281 | cb += w01 >> 16U; |
| 282 | cb += a1 * b1; |
| 283 | k++; |
| 284 | } |
| 285 | |
| 286 | if (k < n) { |
| 287 | y[k] = cb; |
| 288 | } |
| 289 | } |
| 290 | |
| 291 | /* Apply sign */ |
| 292 | if (isNegative1 != isNegative2) { |
| 293 | cb = 1U; |
| 294 | for (k = 0; k < n; k++) { |
| 295 | yk = ~y[k] + cb; |
| 296 | y[k] = yk; |
| 297 | cb = (uint32_T)(yk < cb); |
| 298 | } |
| 299 | } |
| 300 | } |
| 301 | |
| 302 | real_T sMultiWord2Double(const uint32_T u1[], int32_T n1, int32_T e1) |
| 303 | { |
| 304 | real_T y; |
| 305 | int32_T i; |
| 306 | int32_T exp_0; |
| 307 | uint32_T u1i; |
| 308 | uint32_T cb; |
| 309 | y = 0.0; |
| 310 | exp_0 = e1; |
| 311 | if ((u1[n1 - 1] & 2147483648U) != 0U) { |
| 312 | cb = 1U; |
| 313 | for (i = 0; i < n1; i++) { |
| 314 | u1i = ~u1[i]; |
| 315 | cb += u1i; |
| 316 | y -= ldexp(cb, exp_0); |
| 317 | cb = (uint32_T)(cb < u1i); |
| 318 | exp_0 += 32; |
| 319 | } |
| 320 | } else { |
| 321 | for (i = 0; i < n1; i++) { |
| 322 | y += ldexp(u1[i], exp_0); |
| 323 | exp_0 += 32; |
| 324 | } |
| 325 | } |
| 326 | |
| 327 | return y; |
| 328 | } |
| 329 | |
| 330 | boolean_T sMultiWordGt(const uint32_T u1[], const uint32_T u2[], int32_T n) |
| 331 | { |
| 332 | return sMultiWordCmp(u1, u2, n) > 0 ? (int32_T)1 : (int32_T)0; |
| 333 | } |
| 334 | |
| 335 | int32_T sMultiWordCmp(const uint32_T u1[], const uint32_T u2[], int32_T n) |
| 336 | { |
| 337 | int32_T y; |
| 338 | uint32_T su1; |
| 339 | uint32_T su2; |
| 340 | int32_T i; |
| 341 | su1 = u1[n - 1] & 2147483648U; |
| 342 | su2 = u2[n - 1] & 2147483648U; |
| 343 | if ((su1 ^ su2) != 0U) { |
| 344 | y = su1 != 0U ? -1 : 1; |
| 345 | } else { |
| 346 | y = 0; |
| 347 | i = n; |
| 348 | while ((y == 0) && (i > 0)) { |
| 349 | i--; |
| 350 | su1 = u1[i]; |
| 351 | su2 = u2[i]; |
| 352 | if (su1 != su2) { |
| 353 | y = su1 > su2 ? 1 : -1; |
| 354 | } |
| 355 | } |
| 356 | } |
| 357 | |
| 358 | return y; |
| 359 | } |
| 360 | |
| 361 | boolean_T sMultiWordLt(const uint32_T u1[], const uint32_T u2[], int32_T n) |
| 362 | { |
| 363 | return sMultiWordCmp(u1, u2, n) < 0 ? (int32_T)1 : (int32_T)0; |
| 364 | } |
| 365 | |
| 366 | void mul_wide_s32(int32_T in0, int32_T in1, uint32_T *ptrOutBitsHi, uint32_T |
| 367 | *ptrOutBitsLo) |
| 368 | { |
| 369 | uint32_T absIn0; |
| 370 | uint32_T absIn1; |
| 371 | uint32_T in0Lo; |
| 372 | uint32_T in0Hi; |
| 373 | uint32_T in1Hi; |
| 374 | uint32_T productHiLo; |
| 375 | uint32_T productLoHi; |
| 376 | absIn0 = (uint32_T)(in0 < 0 ? -in0 : in0); |
| 377 | absIn1 = (uint32_T)(in1 < 0 ? -in1 : in1); |
| 378 | in0Hi = absIn0 >> 16U; |
| 379 | in0Lo = absIn0 & 65535U; |
| 380 | in1Hi = absIn1 >> 16U; |
| 381 | absIn0 = absIn1 & 65535U; |
| 382 | productHiLo = in0Hi * absIn0; |
| 383 | productLoHi = in0Lo * in1Hi; |
| 384 | absIn0 *= in0Lo; |
| 385 | absIn1 = 0U; |
| 386 | in0Lo = (productLoHi << 16U) + absIn0; |
| 387 | if (in0Lo < absIn0) { |
| 388 | absIn1 = 1U; |
| 389 | } |
| 390 | |
| 391 | absIn0 = in0Lo; |
| 392 | in0Lo += productHiLo << 16U; |
| 393 | if (in0Lo < absIn0) { |
| 394 | absIn1++; |
| 395 | } |
| 396 | |
| 397 | absIn0 = (((productLoHi >> 16U) + (productHiLo >> 16U)) + in0Hi * in1Hi) + |
| 398 | absIn1; |
| 399 | if (!((in0 == 0) || ((in1 == 0) || ((in0 > 0) == (in1 > 0))))) { |
| 400 | absIn0 = ~absIn0; |
| 401 | in0Lo = ~in0Lo; |
| 402 | in0Lo++; |
| 403 | if (in0Lo == 0U) { |
| 404 | absIn0++; |
| 405 | } |
| 406 | } |
| 407 | |
| 408 | *ptrOutBitsHi = absIn0; |
| 409 | *ptrOutBitsLo = in0Lo; |
| 410 | } |
| 411 | |
| 412 | int32_T mul_s32_s32_s32_sat(int32_T a, int32_T b) |
| 413 | { |
| 414 | int32_T result; |
| 415 | uint32_T u32_chi; |
| 416 | uint32_T u32_clo; |
| 417 | mul_wide_s32(a, b, &u32_chi, &u32_clo); |
| 418 | if (((int32_T)u32_chi > 0) || ((u32_chi == 0U) && (u32_clo >= 2147483648U))) { |
| 419 | result = MAX_int32_T; |
| 420 | } else if (((int32_T)u32_chi < -1) || (((int32_T)u32_chi == -1) && (u32_clo < |
| 421 | 2147483648U))) { |
| 422 | result = MIN_int32_T; |
| 423 | } else { |
| 424 | result = (int32_T)u32_clo; |
| 425 | } |
| 426 | |
| 427 | return result; |
| 428 | } |
| 429 | |
| 430 | /* Initial conditions for function-call system: '<S1>/Motor_XHHY' */ |
| 431 | void motor_Motor_XHHY_Init(RT_MODEL_motor * const motor_M, rtDW_Motor_XHHY_motor |
| 432 | *localDW, rtP_Motor_XHHY_motor *localP) |
| 433 | { |
| 434 | uint32_T prevT_idx_0; |
| 435 | uint32_T prevT_idx_1; |
| 436 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 437 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 438 | localDW->Motor_XHHY_PREV_T[0] = prevT_idx_0; |
| 439 | localDW->Motor_XHHY_PREV_T[1] = prevT_idx_1; |
| 440 | |
| 441 | /* InitializeConditions for DiscreteIntegrator: '<S50>/Discrete-Time Integrator' */ |
| 442 | localDW->DiscreteTimeIntegrator_DSTATE = localP->DiscreteTimeIntegrator_IC; |
| 443 | |
| 444 | /* InitializeConditions for DiscreteIntegrator: '<S51>/Discrete-Time Integrator' */ |
| 445 | localDW->DiscreteTimeIntegrator_DSTATE_i = localP->DiscreteTimeIntegrator_IC_l; |
| 446 | localDW->DiscreteTimeIntegrator_PrevRese = 2; |
| 447 | |
| 448 | /* InitializeConditions for DiscreteIntegrator: '<S51>/Discrete-Time Integrator1' */ |
| 449 | localDW->DiscreteTimeIntegrator1_DSTATE = localP->DiscreteTimeIntegrator1_IC; |
| 450 | } |
| 451 | |
| 452 | /* Output and update for function-call system: '<S1>/Motor_XHHY' */ |
| 453 | void motor_Motor_XHHY(RT_MODEL_motor * const motor_M, int32_T rtu_JD_In, int32_T |
| 454 | rtu_Encode_Pos, int32_T rtu_Encode_Sp, uint8_T |
| 455 | rtu_Slect_port, int32_T rtu_SGWY_In, rtB_Motor_XHHY_motor * |
| 456 | localB, rtDW_Motor_XHHY_motor *localDW, |
| 457 | rtP_Motor_XHHY_motor *localP, real_T *rtd_Angle_extern, |
| 458 | real_T *rtd_Angle_internal, uint8_T *rtd_EN_extern, |
| 459 | int32_T *rtd_JD_XHHY, int32_T *rtd_JD_XHHY_HC, uint8_T |
| 460 | *rtd_KG_En, uint8_T *rtd_KG_JD, uint8_T *rtd_KG_clc, |
| 461 | real_T *rtd_P_KP, real_T *rtd_V_KI, real_T *rtd_V_KP, |
| 462 | real_T *rtd_chu_jd) |
| 463 | { |
| 464 | uint32_T elapseT_H; |
| 465 | uint32_T prevT_idx_0; |
| 466 | uint32_T elapseTime_idx_0; |
| 467 | uint32_T prevT_idx_1; |
| 468 | int64m_T tmp; |
| 469 | int64m_T tmp_0; |
| 470 | int128m_T tmp_1; |
| 471 | real_T u0; |
| 472 | real_T u1; |
| 473 | real_T u2; |
| 474 | prevT_idx_0 = localDW->Motor_XHHY_PREV_T[0]; |
| 475 | prevT_idx_1 = localDW->Motor_XHHY_PREV_T[1]; |
| 476 | elapseTime_idx_0 = motor_M->Timing.clockTick0 - prevT_idx_0; |
| 477 | elapseT_H = motor_M->Timing.clockTickH0 - prevT_idx_1; |
| 478 | if (prevT_idx_0 > motor_M->Timing.clockTick0) { |
| 479 | elapseT_H--; |
| 480 | } |
| 481 | |
| 482 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 483 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 484 | localDW->Motor_XHHY_ELAPS_T[0] = elapseTime_idx_0; |
| 485 | localDW->Motor_XHHY_PREV_T[0] = prevT_idx_0; |
| 486 | localDW->Motor_XHHY_ELAPS_T[1] = elapseT_H; |
| 487 | localDW->Motor_XHHY_PREV_T[1] = prevT_idx_1; |
| 488 | |
| 489 | /* DataStoreRead: '<S9>/chu_jd' */ |
| 490 | localB->chu_jd = *rtd_chu_jd; |
| 491 | |
| 492 | /* DataStoreRead: '<S9>/Data Store Read1' */ |
| 493 | localB->DataStoreRead1 = *rtd_Angle_extern; |
| 494 | |
| 495 | /* DataStoreRead: '<S9>/Data Store Read2' */ |
| 496 | localB->DataStoreRead2 = *rtd_Angle_internal; |
| 497 | |
| 498 | /* DataStoreRead: '<S9>/KG_En' */ |
| 499 | localB->KG_En = *rtd_KG_En; |
| 500 | |
| 501 | /* DataTypeConversion: '<S9>/Data Type Conversion1' */ |
| 502 | localB->DataTypeConversion1 = rtu_Encode_Pos; |
| 503 | |
| 504 | /* Gain: '<S9>/GXZ6' */ |
| 505 | localB->GXZ6 = localP->GXZ6_Gain * localB->DataTypeConversion1; |
| 506 | |
| 507 | /* Gain: '<S9>/GXZ1' */ |
| 508 | localB->GXZ1 = localP->GXZ1_Gain * localB->GXZ6; |
| 509 | |
| 510 | /* Gain: '<S9>/GXZ9' */ |
| 511 | localB->GXZ9 = localP->GXZ9_Gain * localB->GXZ1; |
| 512 | |
| 513 | /* Product: '<S9>/Product' */ |
| 514 | localB->Product = (real_T)localB->KG_En * localB->GXZ9; |
| 515 | |
| 516 | /* DataStoreRead: '<S9>/EN_extern' */ |
| 517 | localB->EN_extern = *rtd_EN_extern; |
| 518 | |
| 519 | /* DataTypeConversion: '<S9>/Data Type Conversion3' */ |
| 520 | localB->DataTypeConversion3 = rtu_SGWY_In; |
| 521 | |
| 522 | /* Gain: '<S9>/GXZ2' */ |
| 523 | localB->GXZ2 = localP->GXZ2_Gain * localB->DataTypeConversion3; |
| 524 | |
| 525 | /* Fcn: '<S57>/Fcn1' */ |
| 526 | localB->Fcn1 = localB->GXZ2 + 265.5; |
| 527 | |
| 528 | /* Fcn: '<S57>/Fcn2' */ |
| 529 | localB->Fcn2 = (90490.25 - localB->Fcn1 * localB->Fcn1) / 20000.0; |
| 530 | |
| 531 | /* Fcn: '<S57>/Fcn3' */ |
| 532 | u0 = (7.0490249999999985 - localB->Fcn2 * localB->Fcn2) + 1.0; |
| 533 | if (u0 < 0.0) { |
| 534 | u0 = -sqrt(-u0); |
| 535 | } else { |
| 536 | u0 = sqrt(u0); |
| 537 | } |
| 538 | |
| 539 | localB->Fcn3 = (2.655 - u0) / (localB->Fcn2 + 1.0); |
| 540 | |
| 541 | /* End of Fcn: '<S57>/Fcn3' */ |
| 542 | |
| 543 | /* Fcn: '<S57>/Fcn6' */ |
| 544 | localB->Fcn6 = 2.0 * atan(localB->Fcn3); |
| 545 | |
| 546 | /* Fcn: '<S57>/Fcn4' */ |
| 547 | localB->Fcn4 = 2.655 * cos(localB->Fcn6); |
| 548 | |
| 549 | /* Fcn: '<S57>/Fcn10' */ |
| 550 | localB->Fcn10 = localB->Fcn4 * localB->Fcn4 + 1.0; |
| 551 | |
| 552 | /* Gain: '<S9>/GXZ7' */ |
| 553 | localB->GXZ7 = localP->GXZ7_Gain * localB->GXZ6; |
| 554 | |
| 555 | /* Fcn: '<S57>/Fcn5' */ |
| 556 | localB->Fcn5 = localB->GXZ7 + 265.5; |
| 557 | |
| 558 | /* Fcn: '<S57>/Fcn7' */ |
| 559 | localB->Fcn7 = (90490.25 - localB->Fcn5 * localB->Fcn5) / 20000.0; |
| 560 | |
| 561 | /* Fcn: '<S57>/Fcn8' */ |
| 562 | localB->Fcn8 = localB->Fcn7 * localB->Fcn7; |
| 563 | |
| 564 | /* Sum: '<S57>/Sum3' */ |
| 565 | localB->Sum3 = localB->Fcn10 - localB->Fcn8; |
| 566 | |
| 567 | /* Fcn: '<S57>/Fcn11' */ |
| 568 | u0 = localB->Sum3; |
| 569 | if (u0 < 0.0) { |
| 570 | u0 = -sqrt(-u0); |
| 571 | } else { |
| 572 | u0 = sqrt(u0); |
| 573 | } |
| 574 | |
| 575 | localB->Fcn11 = u0; |
| 576 | |
| 577 | /* End of Fcn: '<S57>/Fcn11' */ |
| 578 | |
| 579 | /* Sum: '<S57>/Sum2' */ |
| 580 | localB->Sum2 = localB->Fcn4 - localB->Fcn11; |
| 581 | |
| 582 | /* Fcn: '<S57>/Fcn9' */ |
| 583 | localB->Fcn9 = 1.0 / (localB->Fcn7 + 1.0); |
| 584 | |
| 585 | /* Product: '<S57>/Product' */ |
| 586 | localB->Product_p = localB->Sum2 * localB->Fcn9; |
| 587 | |
| 588 | /* Fcn: '<S57>/Fcn12' */ |
| 589 | localB->Fcn12 = 2.0 * atan(localB->Product_p); |
| 590 | |
| 591 | /* Gain: '<S9>/GXH7' */ |
| 592 | localB->GXH7 = localP->GXH7_Gain * localB->Fcn12; |
| 593 | |
| 594 | /* Product: '<S9>/Product3' */ |
| 595 | localB->Product3 = (real_T)localB->EN_extern * localB->GXH7; |
| 596 | |
| 597 | /* Sum: '<S9>/Sum2' */ |
| 598 | localB->Sum2_m = (localB->DataStoreRead2 + localB->Product) - localB->Product3; |
| 599 | |
| 600 | /* Sum: '<S9>/Sum' */ |
| 601 | localB->Sum = (localB->chu_jd + localB->DataStoreRead1) - localB->Sum2_m; |
| 602 | |
| 603 | /* Saturate: '<S9>/XF_XHZY1' */ |
| 604 | u0 = localB->Sum; |
| 605 | u1 = localP->XF_XHZY1_LowerSat; |
| 606 | u2 = localP->XF_XHZY1_UpperSat; |
| 607 | if (u0 > u2) { |
| 608 | localB->XF_XHZY1 = u2; |
| 609 | } else if (u0 < u1) { |
| 610 | localB->XF_XHZY1 = u1; |
| 611 | } else { |
| 612 | localB->XF_XHZY1 = u0; |
| 613 | } |
| 614 | |
| 615 | /* End of Saturate: '<S9>/XF_XHZY1' */ |
| 616 | |
| 617 | /* Gain: '<S9>/CDB_XHHY' */ |
| 618 | localB->CDB_XHHY = localP->CDB_XHHY_Gain * localB->XF_XHZY1; |
| 619 | |
| 620 | /* DiscreteIntegrator: '<S50>/Discrete-Time Integrator' */ |
| 621 | localB->DiscreteTimeIntegrator = localDW->DiscreteTimeIntegrator_DSTATE; |
| 622 | |
| 623 | /* DataStoreRead: '<S50>/P_KP' */ |
| 624 | localB->P_KP = *rtd_P_KP; |
| 625 | |
| 626 | /* Product: '<S50>/Product' */ |
| 627 | localB->Product_h = localB->CDB_XHHY * localB->P_KP; |
| 628 | |
| 629 | /* Gain: '<S50>/ZP_Kp2' */ |
| 630 | localB->ZP_Kp2 = localP->ZP_Kp2_Gain * localB->Product_h; |
| 631 | |
| 632 | /* Gain: '<S50>/ZV_KD1' */ |
| 633 | localB->ZV_KD1 = localP->ZV_KD1_Gain * localB->ZP_Kp2; |
| 634 | |
| 635 | /* Sum: '<S50>/Sum' */ |
| 636 | localB->Sum_p = localB->ZV_KD1 - localB->DiscreteTimeIntegrator; |
| 637 | |
| 638 | /* Gain: '<S50>/ZP_KN' */ |
| 639 | localB->ZP_KN = localP->ZP_KN_Gain * localB->Sum_p; |
| 640 | |
| 641 | /* Gain: '<S50>/KD_KG' */ |
| 642 | localB->KD_KG = localP->KD_KG_Gain * localB->ZP_KN; |
| 643 | |
| 644 | /* Gain: '<S50>/ZP_Kp1' */ |
| 645 | localB->ZP_Kp1 = localP->ZP_Kp1_Gain * localB->Product_h; |
| 646 | |
| 647 | /* Sum: '<S50>/Sum1' */ |
| 648 | localB->Sum1 = localB->ZP_Kp1 + localB->KD_KG; |
| 649 | |
| 650 | /* DataStoreRead: '<S51>/KG_clc' */ |
| 651 | localB->KG_clc = *rtd_KG_clc; |
| 652 | |
| 653 | /* DiscreteIntegrator: '<S51>/Discrete-Time Integrator' */ |
| 654 | if (((localB->KG_clc > 0) && (localDW->DiscreteTimeIntegrator_PrevRese <= 0)) || |
| 655 | ((localB->KG_clc <= 0) && (localDW->DiscreteTimeIntegrator_PrevRese == 1))) |
| 656 | { |
| 657 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 658 | localP->DiscreteTimeIntegrator_IC_l; |
| 659 | } |
| 660 | |
| 661 | if (localDW->DiscreteTimeIntegrator_DSTATE_i >= |
| 662 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 663 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 664 | localP->DiscreteTimeIntegrator_UpperSat; |
| 665 | } else { |
| 666 | if (localDW->DiscreteTimeIntegrator_DSTATE_i <= |
| 667 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 668 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 669 | localP->DiscreteTimeIntegrator_LowerSat; |
| 670 | } |
| 671 | } |
| 672 | |
| 673 | localB->DiscreteTimeIntegrator_b = localDW->DiscreteTimeIntegrator_DSTATE_i; |
| 674 | |
| 675 | /* End of DiscreteIntegrator: '<S51>/Discrete-Time Integrator' */ |
| 676 | |
| 677 | /* DiscreteIntegrator: '<S51>/Discrete-Time Integrator1' */ |
| 678 | localB->DiscreteTimeIntegrator1 = localDW->DiscreteTimeIntegrator1_DSTATE; |
| 679 | |
| 680 | /* Saturate: '<S9>/Saturation' */ |
| 681 | u0 = localB->Sum1; |
| 682 | u1 = localP->Saturation_LowerSat; |
| 683 | u2 = localP->Saturation_UpperSat; |
| 684 | if (u0 > u2) { |
| 685 | localB->Saturation = u2; |
| 686 | } else if (u0 < u1) { |
| 687 | localB->Saturation = u1; |
| 688 | } else { |
| 689 | localB->Saturation = u0; |
| 690 | } |
| 691 | |
| 692 | /* End of Saturate: '<S9>/Saturation' */ |
| 693 | |
| 694 | /* Gain: '<S9>/GXZ4' */ |
| 695 | prevT_idx_0 = (uint32_T)localP->GXZ4_Gain; |
| 696 | prevT_idx_1 = (uint32_T)rtu_Encode_Sp; |
| 697 | sMultiWordMul(&prevT_idx_0, 1, &prevT_idx_1, 1, &tmp.chunks[0U], 2); |
| 698 | localB->GXZ4 = tmp; |
| 699 | |
| 700 | /* Gain: '<S9>/GXZ5' */ |
| 701 | tmp = localP->GXZ5_Gain; |
| 702 | tmp_0 = localB->GXZ4; |
| 703 | sMultiWordMul(&tmp.chunks[0U], 2, &tmp_0.chunks[0U], 2, &tmp_1.chunks[0U], 4); |
| 704 | localB->GXZ5 = tmp_1; |
| 705 | |
| 706 | /* Sum: '<S9>/Sum1' */ |
| 707 | tmp_1 = localB->GXZ5; |
| 708 | localB->Sum1_d = localB->Saturation - sMultiWord2Double(&tmp_1.chunks[0U], 4, |
| 709 | 0) * 2.0194839173657902E-28; |
| 710 | |
| 711 | /* Gain: '<S51>/ZV_Kp' */ |
| 712 | localB->ZV_Kp = localP->ZV_Kp_Gain * localB->Sum1_d; |
| 713 | |
| 714 | /* Gain: '<S51>/ZV_Kp1' */ |
| 715 | localB->ZV_Kp1 = localP->ZV_Kp1_Gain * localB->ZV_Kp; |
| 716 | |
| 717 | /* Gain: '<S51>/ZV_KD' */ |
| 718 | localB->ZV_KD = localP->ZV_KD_Gain * localB->ZV_Kp1; |
| 719 | |
| 720 | /* Sum: '<S51>/Sum' */ |
| 721 | localB->Sum_b = localB->ZV_KD - localB->DiscreteTimeIntegrator1; |
| 722 | |
| 723 | /* Gain: '<S51>/ZV_KN' */ |
| 724 | localB->ZV_KN = localP->ZV_KN_Gain * localB->Sum_b; |
| 725 | |
| 726 | /* Saturate: '<S51>/Saturation' */ |
| 727 | u0 = localB->ZV_KN; |
| 728 | u1 = localP->Saturation_LowerSat_l; |
| 729 | u2 = localP->Saturation_UpperSat_l; |
| 730 | if (u0 > u2) { |
| 731 | localB->Saturation_a = u2; |
| 732 | } else if (u0 < u1) { |
| 733 | localB->Saturation_a = u1; |
| 734 | } else { |
| 735 | localB->Saturation_a = u0; |
| 736 | } |
| 737 | |
| 738 | /* End of Saturate: '<S51>/Saturation' */ |
| 739 | |
| 740 | /* Gain: '<S51>/KD_KG' */ |
| 741 | localB->KD_KG_a = localP->KD_KG_Gain_m * localB->Saturation_a; |
| 742 | |
| 743 | /* DataStoreRead: '<S51>/V_KP' */ |
| 744 | localB->V_KP = *rtd_V_KP; |
| 745 | |
| 746 | /* Product: '<S51>/Product' */ |
| 747 | localB->Product_e = localB->ZV_Kp * localB->V_KP; |
| 748 | |
| 749 | /* DataStoreRead: '<S51>/V_KI' */ |
| 750 | localB->V_KI = *rtd_V_KI; |
| 751 | |
| 752 | /* Product: '<S51>/Product1' */ |
| 753 | localB->Product1 = localB->ZV_Kp * localB->V_KI; |
| 754 | |
| 755 | /* Signum: '<S51>/Sign' */ |
| 756 | u0 = localB->Saturation; |
| 757 | if (u0 < 0.0) { |
| 758 | localB->Sign = -1.0; |
| 759 | } else if (u0 > 0.0) { |
| 760 | localB->Sign = 1.0; |
| 761 | } else { |
| 762 | localB->Sign = u0; |
| 763 | } |
| 764 | |
| 765 | /* End of Signum: '<S51>/Sign' */ |
| 766 | |
| 767 | /* Gain: '<S51>/ZV1_Kp1' */ |
| 768 | localB->ZV1_Kp1 = localP->ZV1_Kp1_Gain * localB->Saturation; |
| 769 | |
| 770 | /* Gain: '<S51>/ZV1_Kp2' */ |
| 771 | localB->ZV1_Kp2 = localP->ZV1_Kp2_Gain * localB->Sign; |
| 772 | |
| 773 | /* Sum: '<S51>/Sum2' */ |
| 774 | localB->Sum2_n = (localB->DiscreteTimeIntegrator_b + localB->Product_e) + |
| 775 | localB->KD_KG_a; |
| 776 | |
| 777 | /* Sum: '<S51>/Sum1' */ |
| 778 | localB->Sum1_du = (localB->ZV1_Kp1 + localB->ZV1_Kp2) + localB->Sum2_n; |
| 779 | |
| 780 | /* Gain: '<S9>/KP_JD1' */ |
| 781 | localB->KP_JD1 = localP->KP_JD1_Gain * localB->GXH7; |
| 782 | |
| 783 | /* Gain: '<S9>/KP_e' */ |
| 784 | localB->KP_e = localP->KP_e_Gain * localB->Sum; |
| 785 | |
| 786 | /* Saturate: '<S9>/ZXF_PID' */ |
| 787 | u0 = localB->Sum1_du; |
| 788 | u1 = localP->ZXF_PID_LowerSat; |
| 789 | u2 = localP->ZXF_PID_UpperSat; |
| 790 | if (u0 > u2) { |
| 791 | localB->ZXF_PID = u2; |
| 792 | } else if (u0 < u1) { |
| 793 | localB->ZXF_PID = u1; |
| 794 | } else { |
| 795 | localB->ZXF_PID = u0; |
| 796 | } |
| 797 | |
| 798 | /* End of Saturate: '<S9>/ZXF_PID' */ |
| 799 | |
| 800 | /* Sum: '<S9>/Subtract' incorporates: |
| 801 | * Constant: '<S9>/Con_ZPWM' |
| 802 | */ |
| 803 | localB->Subtract = localB->ZXF_PID + localP->Con_ZPWM_Value; |
| 804 | |
| 805 | /* Saturate: '<S9>/ZXF_PWM' */ |
| 806 | u0 = localB->Subtract; |
| 807 | u1 = localP->ZXF_PWM_LowerSat; |
| 808 | u2 = localP->ZXF_PWM_UpperSat; |
| 809 | if (u0 > u2) { |
| 810 | localB->ZXF_PWM = u2; |
| 811 | } else if (u0 < u1) { |
| 812 | localB->ZXF_PWM = u1; |
| 813 | } else { |
| 814 | localB->ZXF_PWM = u0; |
| 815 | } |
| 816 | |
| 817 | /* End of Saturate: '<S9>/ZXF_PWM' */ |
| 818 | |
| 819 | /* If: '<S9>/If' */ |
| 820 | if (rtu_Slect_port == 5) { |
| 821 | /* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem3' incorporates: |
| 822 | * ActionPort: '<S54>/Action Port' |
| 823 | */ |
| 824 | /* DataStoreWrite: '<S54>/Data Store Write' */ |
| 825 | *rtd_JD_XHHY_HC = rtu_JD_In; |
| 826 | |
| 827 | /* DataStoreWrite: '<S54>/Data Store Write1' */ |
| 828 | *rtd_JD_XHHY = rtu_JD_In; |
| 829 | |
| 830 | /* End of Outputs for SubSystem: '<S9>/If Action Subsystem3' */ |
| 831 | } else if (rtu_Slect_port == 4) { |
| 832 | /* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem1' incorporates: |
| 833 | * ActionPort: '<S52>/Action Port' |
| 834 | */ |
| 835 | /* DataStoreRead: '<S52>/Data Store Read' */ |
| 836 | localB->DataStoreRead_c = *rtd_JD_XHHY_HC; |
| 837 | |
| 838 | /* DataStoreWrite: '<S52>/Data Store Write1' */ |
| 839 | *rtd_JD_XHHY = localB->DataStoreRead_c; |
| 840 | |
| 841 | /* End of Outputs for SubSystem: '<S9>/If Action Subsystem1' */ |
| 842 | } else { |
| 843 | /* Outputs for IfAction SubSystem: '<S9>/If Action Subsystem2' incorporates: |
| 844 | * ActionPort: '<S53>/Action Port' |
| 845 | */ |
| 846 | /* DataStoreWrite: '<S53>/Data Store Write' */ |
| 847 | *rtd_JD_XHHY_HC = rtu_JD_In; |
| 848 | |
| 849 | /* DataStoreWrite: '<S53>/Data Store Write1' */ |
| 850 | *rtd_JD_XHHY = rtu_JD_In; |
| 851 | |
| 852 | /* End of Outputs for SubSystem: '<S9>/If Action Subsystem2' */ |
| 853 | } |
| 854 | |
| 855 | /* End of If: '<S9>/If' */ |
| 856 | |
| 857 | /* DataStoreRead: '<S9>/KG_JD1' */ |
| 858 | localB->KG_JD1 = *rtd_EN_extern; |
| 859 | |
| 860 | /* DataStoreRead: '<S9>/KG_JD' */ |
| 861 | localB->KG_JD = *rtd_KG_JD; |
| 862 | |
| 863 | /* DataTypeConversion: '<S9>/Data Type Conversion4' */ |
| 864 | localB->DataTypeConversion4 = localB->KG_JD; |
| 865 | |
| 866 | /* DataStoreRead: '<S9>/Data Store Read' */ |
| 867 | localB->DataStoreRead = *rtd_JD_XHHY; |
| 868 | |
| 869 | /* DataTypeConversion: '<S9>/Data Type Conversion2' */ |
| 870 | localB->DataTypeConversion2 = localB->DataStoreRead; |
| 871 | |
| 872 | /* Gain: '<S9>/GXZ3' */ |
| 873 | localB->GXZ3 = localP->GXZ3_Gain * localB->DataTypeConversion2; |
| 874 | |
| 875 | /* Saturate: '<S9>/XF_XHZY' */ |
| 876 | u0 = localB->GXZ3; |
| 877 | u1 = localP->XF_XHZY_LowerSat; |
| 878 | u2 = localP->XF_XHZY_UpperSat; |
| 879 | if (u0 > u2) { |
| 880 | localB->XF_XHZY = u2; |
| 881 | } else if (u0 < u1) { |
| 882 | localB->XF_XHZY = u1; |
| 883 | } else { |
| 884 | localB->XF_XHZY = u0; |
| 885 | } |
| 886 | |
| 887 | /* End of Saturate: '<S9>/XF_XHZY' */ |
| 888 | |
| 889 | /* Product: '<S9>/Product1' */ |
| 890 | localB->Product1_l = localB->DataTypeConversion4 * localB->XF_XHZY; |
| 891 | |
| 892 | /* If: '<S9>/If1' */ |
| 893 | if (localB->KG_JD1 > 0) { |
| 894 | /* Outputs for IfAction SubSystem: '<S9>/Switch Case Action Subsystem' incorporates: |
| 895 | * ActionPort: '<S55>/Action Port' |
| 896 | */ |
| 897 | /* DataStoreWrite: '<S55>/Data Store Write' */ |
| 898 | *rtd_Angle_extern = localB->Product1_l; |
| 899 | |
| 900 | /* DataStoreWrite: '<S55>/Data Store Write1' incorporates: |
| 901 | * Constant: '<S55>/Constant' |
| 902 | */ |
| 903 | *rtd_Angle_internal = localP->Constant_Value; |
| 904 | |
| 905 | /* End of Outputs for SubSystem: '<S9>/Switch Case Action Subsystem' */ |
| 906 | } else { |
| 907 | /* Outputs for IfAction SubSystem: '<S9>/Switch Case Action Subsystem1' incorporates: |
| 908 | * ActionPort: '<S56>/Action Port' |
| 909 | */ |
| 910 | /* DataStoreWrite: '<S56>/Data Store Write1' */ |
| 911 | *rtd_Angle_internal = localB->Product1_l; |
| 912 | |
| 913 | /* DataStoreWrite: '<S56>/Data Store Write' incorporates: |
| 914 | * Constant: '<S56>/Constant' |
| 915 | */ |
| 916 | *rtd_Angle_extern = localP->Constant_Value_a; |
| 917 | |
| 918 | /* End of Outputs for SubSystem: '<S9>/Switch Case Action Subsystem1' */ |
| 919 | } |
| 920 | |
| 921 | /* End of If: '<S9>/If1' */ |
| 922 | |
| 923 | /* Update for DiscreteIntegrator: '<S50>/Discrete-Time Integrator' */ |
| 924 | localDW->DiscreteTimeIntegrator_DSTATE += |
| 925 | localP->DiscreteTimeIntegrator_gainval * (real_T)localDW-> |
| 926 | Motor_XHHY_ELAPS_T[0] * localB->ZP_KN; |
| 927 | |
| 928 | /* Update for DiscreteIntegrator: '<S51>/Discrete-Time Integrator' */ |
| 929 | localDW->DiscreteTimeIntegrator_DSTATE_i += |
| 930 | localP->DiscreteTimeIntegrator_gainva_j * (real_T) |
| 931 | localDW->Motor_XHHY_ELAPS_T[0] * localB->Product1; |
| 932 | if (localDW->DiscreteTimeIntegrator_DSTATE_i >= |
| 933 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 934 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 935 | localP->DiscreteTimeIntegrator_UpperSat; |
| 936 | } else { |
| 937 | if (localDW->DiscreteTimeIntegrator_DSTATE_i <= |
| 938 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 939 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 940 | localP->DiscreteTimeIntegrator_LowerSat; |
| 941 | } |
| 942 | } |
| 943 | |
| 944 | localDW->DiscreteTimeIntegrator_PrevRese = (int8_T)(localB->KG_clc > 0); |
| 945 | |
| 946 | /* End of Update for DiscreteIntegrator: '<S51>/Discrete-Time Integrator' */ |
| 947 | |
| 948 | /* Update for DiscreteIntegrator: '<S51>/Discrete-Time Integrator1' */ |
| 949 | localDW->DiscreteTimeIntegrator1_DSTATE += |
| 950 | localP->DiscreteTimeIntegrator1_gainval * (real_T) |
| 951 | localDW->Motor_XHHY_ELAPS_T[0] * localB->ZV_KN; |
| 952 | if (localDW->DiscreteTimeIntegrator1_DSTATE >= |
| 953 | localP->DiscreteTimeIntegrator1_UpperSa) { |
| 954 | localDW->DiscreteTimeIntegrator1_DSTATE = |
| 955 | localP->DiscreteTimeIntegrator1_UpperSa; |
| 956 | } else { |
| 957 | if (localDW->DiscreteTimeIntegrator1_DSTATE <= |
| 958 | localP->DiscreteTimeIntegrator1_LowerSa) { |
| 959 | localDW->DiscreteTimeIntegrator1_DSTATE = |
| 960 | localP->DiscreteTimeIntegrator1_LowerSa; |
| 961 | } |
| 962 | } |
| 963 | |
| 964 | /* End of Update for DiscreteIntegrator: '<S51>/Discrete-Time Integrator1' */ |
| 965 | } |
| 966 | |
| 967 | /* Initial conditions for function-call system: '<S1>/Motor_HYDG' */ |
| 968 | void motor_Motor_HYDG_Init(RT_MODEL_motor * const motor_M, rtDW_Motor_HYDG_motor |
| 969 | *localDW, rtP_Motor_HYDG_motor *localP) |
| 970 | { |
| 971 | uint32_T prevT_idx_0; |
| 972 | uint32_T prevT_idx_1; |
| 973 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 974 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 975 | localDW->Motor_HYDG_PREV_T[0] = prevT_idx_0; |
| 976 | localDW->Motor_HYDG_PREV_T[1] = prevT_idx_1; |
| 977 | |
| 978 | /* InitializeConditions for DiscreteIntegrator: '<S35>/Discrete-Time Integrator' */ |
| 979 | localDW->DiscreteTimeIntegrator_DSTATE = localP->DiscreteTimeIntegrator_IC; |
| 980 | |
| 981 | /* InitializeConditions for DiscreteIntegrator: '<S36>/Discrete-Time Integrator' */ |
| 982 | localDW->DiscreteTimeIntegrator_DSTATE_i = localP->DiscreteTimeIntegrator_IC_b; |
| 983 | localDW->DiscreteTimeIntegrator_PrevRese = 2; |
| 984 | |
| 985 | /* InitializeConditions for DiscreteIntegrator: '<S36>/Discrete-Time Integrator1' */ |
| 986 | localDW->DiscreteTimeIntegrator1_DSTATE = localP->DiscreteTimeIntegrator1_IC; |
| 987 | } |
| 988 | |
| 989 | /* Output and update for function-call system: '<S1>/Motor_HYDG' */ |
| 990 | void motor_Motor_HYDG(RT_MODEL_motor * const motor_M, int32_T rtu_JD_In, int32_T |
| 991 | rtu_Encode_Pos, uint8_T rtu_Slect_port, int32_T |
| 992 | rtu_Encode_Sp, rtB_Motor_HYDG_motor *localB, |
| 993 | rtDW_Motor_HYDG_motor *localDW, rtP_Motor_HYDG_motor |
| 994 | *localP, int32_T *rtd_JD_HYDG, int32_T *rtd_JD_HYDG_HC, |
| 995 | uint8_T *rtd_KG_JD, uint8_T *rtd_KG_clc, real_T |
| 996 | *rtd_chu_jd) |
| 997 | { |
| 998 | int128m_T tmp; |
| 999 | int128m_T tmp_0; |
| 1000 | uint32_T elapseT_H; |
| 1001 | uint32_T prevT_idx_0; |
| 1002 | uint32_T elapseTime_idx_0; |
| 1003 | uint32_T prevT_idx_1; |
| 1004 | int64m_T tmp_1; |
| 1005 | int64m_T tmp_2; |
| 1006 | int128m_T tmp_3; |
| 1007 | int128m_T tmp_4; |
| 1008 | real_T u0; |
| 1009 | real_T u1; |
| 1010 | real_T u2; |
| 1011 | prevT_idx_0 = localDW->Motor_HYDG_PREV_T[0]; |
| 1012 | prevT_idx_1 = localDW->Motor_HYDG_PREV_T[1]; |
| 1013 | elapseTime_idx_0 = motor_M->Timing.clockTick0 - prevT_idx_0; |
| 1014 | elapseT_H = motor_M->Timing.clockTickH0 - prevT_idx_1; |
| 1015 | if (prevT_idx_0 > motor_M->Timing.clockTick0) { |
| 1016 | elapseT_H--; |
| 1017 | } |
| 1018 | |
| 1019 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 1020 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 1021 | localDW->Motor_HYDG_ELAPS_T[0] = elapseTime_idx_0; |
| 1022 | localDW->Motor_HYDG_PREV_T[0] = prevT_idx_0; |
| 1023 | localDW->Motor_HYDG_ELAPS_T[1] = elapseT_H; |
| 1024 | localDW->Motor_HYDG_PREV_T[1] = prevT_idx_1; |
| 1025 | |
| 1026 | /* DataStoreRead: '<S7>/chu_jd' */ |
| 1027 | localB->chu_jd = *rtd_chu_jd; |
| 1028 | |
| 1029 | /* DataStoreRead: '<S7>/KG_JD' */ |
| 1030 | localB->KG_JD = *rtd_KG_JD; |
| 1031 | |
| 1032 | /* DataStoreRead: '<S7>/Data Store Read' */ |
| 1033 | localB->DataStoreRead = *rtd_JD_HYDG; |
| 1034 | |
| 1035 | /* Gain: '<S7>/GHDG10' */ |
| 1036 | prevT_idx_0 = (uint32_T)localP->GHDG10_Gain; |
| 1037 | prevT_idx_1 = (uint32_T)localB->DataStoreRead; |
| 1038 | sMultiWordMul(&prevT_idx_0, 1, &prevT_idx_1, 1, &tmp_1.chunks[0U], 2); |
| 1039 | localB->GHDG10 = tmp_1; |
| 1040 | |
| 1041 | /* Gain: '<S7>/GHDG1' */ |
| 1042 | tmp_1 = localP->GHDG1_Gain; |
| 1043 | tmp_2 = localB->GHDG10; |
| 1044 | sMultiWordMul(&tmp_1.chunks[0U], 2, &tmp_2.chunks[0U], 2, &tmp_3.chunks[0U], 4); |
| 1045 | localB->GHDG1 = tmp_3; |
| 1046 | |
| 1047 | /* Saturate: '<S7>/XF_XHZY' */ |
| 1048 | tmp_3 = localB->GHDG1; |
| 1049 | tmp = localP->XF_XHZY_LowerSat; |
| 1050 | tmp_0 = localP->XF_XHZY_UpperSat; |
| 1051 | if (sMultiWordGt(&tmp_3.chunks[0U], &tmp_0.chunks[0U], 4)) { |
| 1052 | localB->XF_XHZY = tmp_0; |
| 1053 | } else if (sMultiWordLt(&tmp_3.chunks[0U], &tmp.chunks[0U], 4)) { |
| 1054 | localB->XF_XHZY = tmp; |
| 1055 | } else { |
| 1056 | localB->XF_XHZY = tmp_3; |
| 1057 | } |
| 1058 | |
| 1059 | /* End of Saturate: '<S7>/XF_XHZY' */ |
| 1060 | |
| 1061 | /* Product: '<S7>/Product' */ |
| 1062 | tmp_3 = localB->XF_XHZY; |
| 1063 | localB->Product = sMultiWord2Double(&tmp_3.chunks[0U], 4, 0) * |
| 1064 | 1.9721522630525295E-31 * (real_T)localB->KG_JD; |
| 1065 | |
| 1066 | /* DataTypeConversion: '<S7>/Data Type Conversion1' */ |
| 1067 | localB->DataTypeConversion1 = rtu_Encode_Pos; |
| 1068 | |
| 1069 | /* Gain: '<S7>/GHDG5' */ |
| 1070 | localB->GHDG5 = localP->GHDG5_Gain * localB->DataTypeConversion1; |
| 1071 | |
| 1072 | /* Gain: '<S40>/GHDG7' */ |
| 1073 | localB->GHDG7 = localP->GHDG7_Gain * localB->GHDG5; |
| 1074 | |
| 1075 | /* Gain: '<S40>/GHDG8' */ |
| 1076 | localB->GHDG8 = localP->GHDG8_Gain * localB->GHDG7; |
| 1077 | |
| 1078 | /* Fcn: '<S41>/Fcn7' */ |
| 1079 | localB->Fcn7 = localB->GHDG8 + 0.2655; |
| 1080 | |
| 1081 | /* Fcn: '<S41>/Cl1' */ |
| 1082 | localB->Cl1 = (0.090490250000000008 - localB->Fcn7 * localB->Fcn7) / |
| 1083 | 0.020000000000000004; |
| 1084 | |
| 1085 | /* Fcn: '<S41>/Fcn' */ |
| 1086 | u0 = (7.0490249999999985 - localB->Cl1 * localB->Cl1) + 1.0; |
| 1087 | if (u0 < 0.0) { |
| 1088 | u0 = -sqrt(-u0); |
| 1089 | } else { |
| 1090 | u0 = sqrt(u0); |
| 1091 | } |
| 1092 | |
| 1093 | localB->Fcn = (2.655 - u0) / (localB->Cl1 + 1.0); |
| 1094 | |
| 1095 | /* End of Fcn: '<S41>/Fcn' */ |
| 1096 | |
| 1097 | /* Fcn: '<S41>/Fcn4' */ |
| 1098 | localB->Fcn4 = 2.0 * atan(localB->Fcn); |
| 1099 | |
| 1100 | /* Gain: '<S40>/GHDG9' */ |
| 1101 | localB->GHDG9 = localP->GHDG9_Gain * localB->Fcn4; |
| 1102 | |
| 1103 | /* Gain: '<S7>/fk_dg' */ |
| 1104 | localB->fk_dg = localP->fk_dg_Gain * localB->GHDG9; |
| 1105 | |
| 1106 | /* Sum: '<S7>/Sum' */ |
| 1107 | localB->Sum = (localB->chu_jd + localB->Product) - localB->fk_dg; |
| 1108 | |
| 1109 | /* Saturate: '<S7>/JD_e(k)' */ |
| 1110 | u0 = localB->Sum; |
| 1111 | u1 = localP->JD_ek_LowerSat; |
| 1112 | u2 = localP->JD_ek_UpperSat; |
| 1113 | if (u0 > u2) { |
| 1114 | localB->JD_ek = u2; |
| 1115 | } else if (u0 < u1) { |
| 1116 | localB->JD_ek = u1; |
| 1117 | } else { |
| 1118 | localB->JD_ek = u0; |
| 1119 | } |
| 1120 | |
| 1121 | /* End of Saturate: '<S7>/JD_e(k)' */ |
| 1122 | |
| 1123 | /* Gain: '<S7>/CDB_XHHY' */ |
| 1124 | localB->CDB_XHHY = localP->CDB_XHHY_Gain * localB->JD_ek; |
| 1125 | |
| 1126 | /* DiscreteIntegrator: '<S35>/Discrete-Time Integrator' */ |
| 1127 | localB->DiscreteTimeIntegrator = localDW->DiscreteTimeIntegrator_DSTATE; |
| 1128 | |
| 1129 | /* Gain: '<S35>/ZP_Kp' */ |
| 1130 | localB->ZP_Kp = localP->ZP_Kp_Gain * localB->CDB_XHHY; |
| 1131 | |
| 1132 | /* Gain: '<S35>/ZP_Kp2' */ |
| 1133 | localB->ZP_Kp2 = localP->ZP_Kp2_Gain * localB->ZP_Kp; |
| 1134 | |
| 1135 | /* Gain: '<S35>/ZV_KD1' */ |
| 1136 | localB->ZV_KD1 = localP->ZV_KD1_Gain * localB->ZP_Kp2; |
| 1137 | |
| 1138 | /* Sum: '<S35>/Sum' */ |
| 1139 | localB->Sum_g = localB->ZV_KD1 - localB->DiscreteTimeIntegrator; |
| 1140 | |
| 1141 | /* Gain: '<S35>/ZP_KN' */ |
| 1142 | localB->ZP_KN = localP->ZP_KN_Gain * localB->Sum_g; |
| 1143 | |
| 1144 | /* Gain: '<S35>/KD_KG' */ |
| 1145 | localB->KD_KG = localP->KD_KG_Gain * localB->ZP_KN; |
| 1146 | |
| 1147 | /* Gain: '<S35>/ZP_Kp1' */ |
| 1148 | localB->ZP_Kp1 = localP->ZP_Kp1_Gain * localB->ZP_Kp; |
| 1149 | |
| 1150 | /* Sum: '<S35>/Sum1' */ |
| 1151 | localB->Sum1 = localB->ZP_Kp1 + localB->KD_KG; |
| 1152 | |
| 1153 | /* DataStoreRead: '<S36>/KG_clc' */ |
| 1154 | localB->KG_clc = *rtd_KG_clc; |
| 1155 | |
| 1156 | /* DiscreteIntegrator: '<S36>/Discrete-Time Integrator' */ |
| 1157 | if (((localB->KG_clc > 0) && (localDW->DiscreteTimeIntegrator_PrevRese <= 0)) || |
| 1158 | ((localB->KG_clc <= 0) && (localDW->DiscreteTimeIntegrator_PrevRese == 1))) |
| 1159 | { |
| 1160 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 1161 | localP->DiscreteTimeIntegrator_IC_b; |
| 1162 | } |
| 1163 | |
| 1164 | if (localDW->DiscreteTimeIntegrator_DSTATE_i >= |
| 1165 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 1166 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 1167 | localP->DiscreteTimeIntegrator_UpperSat; |
| 1168 | } else { |
| 1169 | if (localDW->DiscreteTimeIntegrator_DSTATE_i <= |
| 1170 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 1171 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 1172 | localP->DiscreteTimeIntegrator_LowerSat; |
| 1173 | } |
| 1174 | } |
| 1175 | |
| 1176 | localB->DiscreteTimeIntegrator_o = localDW->DiscreteTimeIntegrator_DSTATE_i; |
| 1177 | |
| 1178 | /* End of DiscreteIntegrator: '<S36>/Discrete-Time Integrator' */ |
| 1179 | |
| 1180 | /* DiscreteIntegrator: '<S36>/Discrete-Time Integrator1' */ |
| 1181 | localB->DiscreteTimeIntegrator1 = localDW->DiscreteTimeIntegrator1_DSTATE; |
| 1182 | |
| 1183 | /* Saturate: '<S7>/Saturation' */ |
| 1184 | u0 = localB->Sum1; |
| 1185 | u1 = localP->Saturation_LowerSat; |
| 1186 | u2 = localP->Saturation_UpperSat; |
| 1187 | if (u0 > u2) { |
| 1188 | localB->Saturation = u2; |
| 1189 | } else if (u0 < u1) { |
| 1190 | localB->Saturation = u1; |
| 1191 | } else { |
| 1192 | localB->Saturation = u0; |
| 1193 | } |
| 1194 | |
| 1195 | /* End of Saturate: '<S7>/Saturation' */ |
| 1196 | |
| 1197 | /* Gain: '<S7>/GXZ4' incorporates: |
| 1198 | * Gain: '<S7>/GHDG1' |
| 1199 | */ |
| 1200 | prevT_idx_0 = (uint32_T)localP->GXZ4_Gain; |
| 1201 | prevT_idx_1 = (uint32_T)rtu_Encode_Sp; |
| 1202 | sMultiWordMul(&prevT_idx_0, 1, &prevT_idx_1, 1, &tmp_1.chunks[0U], 2); |
| 1203 | localB->GXZ4 = tmp_1; |
| 1204 | |
| 1205 | /* Gain: '<S7>/GXZ5' */ |
| 1206 | tmp_2 = localP->GXZ5_Gain; |
| 1207 | tmp_1 = localB->GXZ4; |
| 1208 | sMultiWordMul(&tmp_2.chunks[0U], 2, &tmp_1.chunks[0U], 2, &tmp_4.chunks[0U], 4); |
| 1209 | localB->GXZ5 = tmp_4; |
| 1210 | |
| 1211 | /* Sum: '<S7>/Sum2' */ |
| 1212 | tmp_3 = localB->GXZ5; |
| 1213 | localB->Sum2 = localB->Saturation - sMultiWord2Double(&tmp_3.chunks[0U], 4, 0) |
| 1214 | * 4.0389678347315804E-28; |
| 1215 | |
| 1216 | /* Gain: '<S36>/ZV_Kp' */ |
| 1217 | localB->ZV_Kp = localP->ZV_Kp_Gain * localB->Sum2; |
| 1218 | |
| 1219 | /* Gain: '<S36>/ZV_Kp1' */ |
| 1220 | localB->ZV_Kp1 = localP->ZV_Kp1_Gain * localB->ZV_Kp; |
| 1221 | |
| 1222 | /* Gain: '<S36>/ZV_KD' */ |
| 1223 | localB->ZV_KD = localP->ZV_KD_Gain * localB->ZV_Kp1; |
| 1224 | |
| 1225 | /* Sum: '<S36>/Sum' */ |
| 1226 | localB->Sum_n = localB->ZV_KD - localB->DiscreteTimeIntegrator1; |
| 1227 | |
| 1228 | /* Gain: '<S36>/ZV_KN' */ |
| 1229 | localB->ZV_KN = localP->ZV_KN_Gain * localB->Sum_n; |
| 1230 | |
| 1231 | /* Saturate: '<S36>/Saturation' */ |
| 1232 | u0 = localB->ZV_KN; |
| 1233 | u1 = localP->Saturation_LowerSat_i; |
| 1234 | u2 = localP->Saturation_UpperSat_m; |
| 1235 | if (u0 > u2) { |
| 1236 | localB->Saturation_b = u2; |
| 1237 | } else if (u0 < u1) { |
| 1238 | localB->Saturation_b = u1; |
| 1239 | } else { |
| 1240 | localB->Saturation_b = u0; |
| 1241 | } |
| 1242 | |
| 1243 | /* End of Saturate: '<S36>/Saturation' */ |
| 1244 | |
| 1245 | /* Gain: '<S36>/KD_KG' */ |
| 1246 | localB->KD_KG_l = localP->KD_KG_Gain_l * localB->Saturation_b; |
| 1247 | |
| 1248 | /* Signum: '<S36>/Sign' */ |
| 1249 | u0 = localB->Saturation; |
| 1250 | if (u0 < 0.0) { |
| 1251 | localB->Sign = -1.0; |
| 1252 | } else if (u0 > 0.0) { |
| 1253 | localB->Sign = 1.0; |
| 1254 | } else { |
| 1255 | localB->Sign = u0; |
| 1256 | } |
| 1257 | |
| 1258 | /* End of Signum: '<S36>/Sign' */ |
| 1259 | |
| 1260 | /* Gain: '<S36>/ZV1_Kp1' */ |
| 1261 | localB->ZV1_Kp1 = localP->ZV1_Kp1_Gain * localB->Saturation; |
| 1262 | |
| 1263 | /* Gain: '<S36>/ZV1_Kp2' */ |
| 1264 | localB->ZV1_Kp2 = localP->ZV1_Kp2_Gain * localB->Sign; |
| 1265 | |
| 1266 | /* Gain: '<S36>/ZV_Ki1' */ |
| 1267 | localB->ZV_Ki1 = localP->ZV_Ki1_Gain * localB->DiscreteTimeIntegrator_o; |
| 1268 | |
| 1269 | /* Gain: '<S36>/ZV_Kpt' */ |
| 1270 | localB->ZV_Kpt = localP->ZV_Kpt_Gain * localB->ZV_Kp; |
| 1271 | |
| 1272 | /* Sum: '<S36>/Sum2' */ |
| 1273 | localB->Sum2_e = (localB->ZV_Ki1 + localB->ZV_Kpt) + localB->KD_KG_l; |
| 1274 | |
| 1275 | /* Sum: '<S36>/Sum1' */ |
| 1276 | localB->Sum1_g = (localB->ZV1_Kp1 + localB->ZV1_Kp2) + localB->Sum2_e; |
| 1277 | |
| 1278 | /* Saturate: '<S7>/XF_PID' */ |
| 1279 | u0 = localB->Sum1_g; |
| 1280 | u1 = localP->XF_PID_LowerSat; |
| 1281 | u2 = localP->XF_PID_UpperSat; |
| 1282 | if (u0 > u2) { |
| 1283 | localB->XF_PID = u2; |
| 1284 | } else if (u0 < u1) { |
| 1285 | localB->XF_PID = u1; |
| 1286 | } else { |
| 1287 | localB->XF_PID = u0; |
| 1288 | } |
| 1289 | |
| 1290 | /* End of Saturate: '<S7>/XF_PID' */ |
| 1291 | |
| 1292 | /* Sum: '<S7>/Sum3' incorporates: |
| 1293 | * Constant: '<S7>/Constant' |
| 1294 | */ |
| 1295 | localB->Sum3 = localB->XF_PID + localP->Constant_Value; |
| 1296 | |
| 1297 | /* Saturate: '<S7>/XF_PWM' */ |
| 1298 | u0 = localB->Sum3; |
| 1299 | u1 = localP->XF_PWM_LowerSat; |
| 1300 | u2 = localP->XF_PWM_UpperSat; |
| 1301 | if (u0 > u2) { |
| 1302 | localB->XF_PWM = u2; |
| 1303 | } else if (u0 < u1) { |
| 1304 | localB->XF_PWM = u1; |
| 1305 | } else { |
| 1306 | localB->XF_PWM = u0; |
| 1307 | } |
| 1308 | |
| 1309 | /* End of Saturate: '<S7>/XF_PWM' */ |
| 1310 | |
| 1311 | /* DataTypeConversion: '<S7>/Data Type Conversion3' */ |
| 1312 | u0 = fmod(floor(localB->XF_PWM), 65536.0); |
| 1313 | localB->DataTypeConversion3 = (uint16_T)(u0 < 0.0 ? (int32_T)(uint16_T) |
| 1314 | -(int16_T)(uint16_T)-u0 : (int32_T)(uint16_T)u0); |
| 1315 | |
| 1316 | /* Gain: '<S7>/KP_JD' */ |
| 1317 | localB->KP_JD = localP->KP_JD_Gain * localB->fk_dg; |
| 1318 | |
| 1319 | /* Gain: '<S7>/KP_e' */ |
| 1320 | localB->KP_e = localP->KP_e_Gain * localB->Sum; |
| 1321 | |
| 1322 | /* If: '<S7>/If' */ |
| 1323 | if (rtu_Slect_port == 5) { |
| 1324 | /* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem' incorporates: |
| 1325 | * ActionPort: '<S37>/Action Port' |
| 1326 | */ |
| 1327 | /* DataStoreWrite: '<S37>/Data Store Write' */ |
| 1328 | *rtd_JD_HYDG_HC = rtu_JD_In; |
| 1329 | |
| 1330 | /* DataStoreWrite: '<S37>/Data Store Write1' */ |
| 1331 | *rtd_JD_HYDG = rtu_JD_In; |
| 1332 | |
| 1333 | /* End of Outputs for SubSystem: '<S7>/If Action Subsystem' */ |
| 1334 | } else if (rtu_Slect_port == 4) { |
| 1335 | /* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem1' incorporates: |
| 1336 | * ActionPort: '<S38>/Action Port' |
| 1337 | */ |
| 1338 | /* DataStoreRead: '<S38>/Data Store Read' */ |
| 1339 | localB->DataStoreRead_e = *rtd_JD_HYDG_HC; |
| 1340 | |
| 1341 | /* DataStoreWrite: '<S38>/Data Store Write1' */ |
| 1342 | *rtd_JD_HYDG = localB->DataStoreRead_e; |
| 1343 | |
| 1344 | /* End of Outputs for SubSystem: '<S7>/If Action Subsystem1' */ |
| 1345 | } else { |
| 1346 | /* Outputs for IfAction SubSystem: '<S7>/If Action Subsystem2' incorporates: |
| 1347 | * ActionPort: '<S39>/Action Port' |
| 1348 | */ |
| 1349 | /* DataStoreWrite: '<S39>/Data Store Write' */ |
| 1350 | *rtd_JD_HYDG_HC = rtu_JD_In; |
| 1351 | |
| 1352 | /* DataStoreWrite: '<S39>/Data Store Write1' */ |
| 1353 | *rtd_JD_HYDG = rtu_JD_In; |
| 1354 | |
| 1355 | /* End of Outputs for SubSystem: '<S7>/If Action Subsystem2' */ |
| 1356 | } |
| 1357 | |
| 1358 | /* End of If: '<S7>/If' */ |
| 1359 | |
| 1360 | /* Update for DiscreteIntegrator: '<S35>/Discrete-Time Integrator' */ |
| 1361 | localDW->DiscreteTimeIntegrator_DSTATE += |
| 1362 | localP->DiscreteTimeIntegrator_gainval * (real_T)localDW-> |
| 1363 | Motor_HYDG_ELAPS_T[0] * localB->ZP_KN; |
| 1364 | |
| 1365 | /* Update for DiscreteIntegrator: '<S36>/Discrete-Time Integrator' */ |
| 1366 | localDW->DiscreteTimeIntegrator_DSTATE_i += |
| 1367 | localP->DiscreteTimeIntegrator_gainva_p * (real_T) |
| 1368 | localDW->Motor_HYDG_ELAPS_T[0] * localB->ZV_Kp; |
| 1369 | if (localDW->DiscreteTimeIntegrator_DSTATE_i >= |
| 1370 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 1371 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 1372 | localP->DiscreteTimeIntegrator_UpperSat; |
| 1373 | } else { |
| 1374 | if (localDW->DiscreteTimeIntegrator_DSTATE_i <= |
| 1375 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 1376 | localDW->DiscreteTimeIntegrator_DSTATE_i = |
| 1377 | localP->DiscreteTimeIntegrator_LowerSat; |
| 1378 | } |
| 1379 | } |
| 1380 | |
| 1381 | localDW->DiscreteTimeIntegrator_PrevRese = (int8_T)(localB->KG_clc > 0); |
| 1382 | |
| 1383 | /* End of Update for DiscreteIntegrator: '<S36>/Discrete-Time Integrator' */ |
| 1384 | |
| 1385 | /* Update for DiscreteIntegrator: '<S36>/Discrete-Time Integrator1' */ |
| 1386 | localDW->DiscreteTimeIntegrator1_DSTATE += |
| 1387 | localP->DiscreteTimeIntegrator1_gainval * (real_T) |
| 1388 | localDW->Motor_HYDG_ELAPS_T[0] * localB->ZV_KN; |
| 1389 | } |
| 1390 | |
| 1391 | /* Initial conditions for function-call system: '<S1>/Motor_XHZY' */ |
| 1392 | void motor_Motor_XHZY_Init(RT_MODEL_motor * const motor_M, rtDW_Motor_XHZY_motor |
| 1393 | *localDW, rtP_Motor_XHZY_motor *localP) |
| 1394 | { |
| 1395 | uint32_T prevT_idx_0; |
| 1396 | uint32_T prevT_idx_1; |
| 1397 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 1398 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 1399 | localDW->Motor_XHZY_PREV_T[0] = prevT_idx_0; |
| 1400 | localDW->Motor_XHZY_PREV_T[1] = prevT_idx_1; |
| 1401 | |
| 1402 | /* InitializeConditions for DiscreteIntegrator: '<S58>/Discrete-Time Integrator' */ |
| 1403 | localDW->DiscreteTimeIntegrator_DSTATE = localP->DiscreteTimeIntegrator_IC; |
| 1404 | |
| 1405 | /* InitializeConditions for DiscreteIntegrator: '<S59>/Discrete-Time Integrator' */ |
| 1406 | localDW->DiscreteTimeIntegrator_DSTATE_c = localP->DiscreteTimeIntegrator_IC_l; |
| 1407 | localDW->DiscreteTimeIntegrator_PrevRese = 2; |
| 1408 | |
| 1409 | /* InitializeConditions for DiscreteIntegrator: '<S59>/Discrete-Time Integrator1' */ |
| 1410 | localDW->DiscreteTimeIntegrator1_DSTATE = localP->DiscreteTimeIntegrator1_IC; |
| 1411 | } |
| 1412 | |
| 1413 | /* Output and update for function-call system: '<S1>/Motor_XHZY' */ |
| 1414 | void motor_Motor_XHZY(RT_MODEL_motor * const motor_M, int32_T rtu_JD_In, int32_T |
| 1415 | rtu_Encode_Pos, int32_T rtu_YJ_In, int32_T rtu_Encode_Sp, |
| 1416 | uint8_T rtu_Slect_port, rtB_Motor_XHZY_motor *localB, |
| 1417 | rtDW_Motor_XHZY_motor *localDW, rtP_Motor_XHZY_motor |
| 1418 | *localP, real_T *rtd_Angle_extern, real_T |
| 1419 | *rtd_Angle_internal, uint8_T *rtd_EN_extern, uint8_T |
| 1420 | *rtd_Forword, int32_T *rtd_JD_XHZY, int32_T |
| 1421 | *rtd_JD_XHZY_HC, uint8_T *rtd_KG_En, uint8_T *rtd_KG_JD, |
| 1422 | uint8_T *rtd_KG_YJ, uint8_T *rtd_KG_clc, real_T *rtd_P_KP, |
| 1423 | real_T *rtd_V_KI, real_T *rtd_V_KP, int32_T *rtd_YJ_XHZY, |
| 1424 | int32_T *rtd_YJ_XHZY_HC, real_T *rtd_chu_jd) |
| 1425 | { |
| 1426 | uint32_T elapseT_H; |
| 1427 | uint32_T prevT_idx_0; |
| 1428 | uint32_T elapseTime_idx_0; |
| 1429 | uint32_T prevT_idx_1; |
| 1430 | int64m_T tmp; |
| 1431 | int64m_T tmp_0; |
| 1432 | int128m_T tmp_1; |
| 1433 | real_T u1; |
| 1434 | real_T u2; |
| 1435 | real_T u; |
| 1436 | prevT_idx_0 = localDW->Motor_XHZY_PREV_T[0]; |
| 1437 | prevT_idx_1 = localDW->Motor_XHZY_PREV_T[1]; |
| 1438 | elapseTime_idx_0 = motor_M->Timing.clockTick0 - prevT_idx_0; |
| 1439 | elapseT_H = motor_M->Timing.clockTickH0 - prevT_idx_1; |
| 1440 | if (prevT_idx_0 > motor_M->Timing.clockTick0) { |
| 1441 | elapseT_H--; |
| 1442 | } |
| 1443 | |
| 1444 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 1445 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 1446 | localDW->Motor_XHZY_ELAPS_T[0] = elapseTime_idx_0; |
| 1447 | localDW->Motor_XHZY_PREV_T[0] = prevT_idx_0; |
| 1448 | localDW->Motor_XHZY_ELAPS_T[1] = elapseT_H; |
| 1449 | localDW->Motor_XHZY_PREV_T[1] = prevT_idx_1; |
| 1450 | |
| 1451 | /* DataStoreRead: '<S10>/chu_jd' */ |
| 1452 | localB->chu_jd = *rtd_chu_jd; |
| 1453 | |
| 1454 | /* DataStoreRead: '<S10>/KG_YJ' */ |
| 1455 | localB->KG_YJ = *rtd_KG_YJ; |
| 1456 | |
| 1457 | /* DataStoreRead: '<S10>/Data Store Read1' */ |
| 1458 | localB->DataStoreRead1 = *rtd_YJ_XHZY; |
| 1459 | |
| 1460 | /* DataTypeConversion: '<S10>/Data Type Conversion3' */ |
| 1461 | localB->DataTypeConversion3 = localB->DataStoreRead1; |
| 1462 | |
| 1463 | /* Gain: '<S10>/GXZ2' */ |
| 1464 | localB->GXZ2 = localP->GXZ2_Gain * localB->DataTypeConversion3; |
| 1465 | |
| 1466 | /* Saturate: '<S10>/XF_YJ' */ |
| 1467 | u = localB->GXZ2; |
| 1468 | u1 = localP->XF_YJ_LowerSat; |
| 1469 | u2 = localP->XF_YJ_UpperSat; |
| 1470 | if (u > u2) { |
| 1471 | localB->XF_YJ = u2; |
| 1472 | } else if (u < u1) { |
| 1473 | localB->XF_YJ = u1; |
| 1474 | } else { |
| 1475 | localB->XF_YJ = u; |
| 1476 | } |
| 1477 | |
| 1478 | /* End of Saturate: '<S10>/XF_YJ' */ |
| 1479 | |
| 1480 | /* Product: '<S10>/Product2' */ |
| 1481 | localB->Product2 = (real_T)localB->KG_YJ * localB->XF_YJ; |
| 1482 | |
| 1483 | /* DataStoreRead: '<S10>/Data Store Read2' */ |
| 1484 | localB->DataStoreRead2 = *rtd_Angle_extern; |
| 1485 | |
| 1486 | /* DataStoreRead: '<S10>/Data Store Read3' */ |
| 1487 | localB->DataStoreRead3 = *rtd_Angle_internal; |
| 1488 | |
| 1489 | /* DataStoreRead: '<S10>/KG_En' */ |
| 1490 | localB->KG_En = *rtd_KG_En; |
| 1491 | |
| 1492 | /* DataTypeConversion: '<S10>/Data Type Conversion1' */ |
| 1493 | localB->DataTypeConversion1 = rtu_Encode_Pos; |
| 1494 | |
| 1495 | /* Gain: '<S10>/GXZ6' */ |
| 1496 | localB->GXZ6 = localP->GXZ6_Gain * localB->DataTypeConversion1; |
| 1497 | |
| 1498 | /* Gain: '<S10>/GXZ1' */ |
| 1499 | localB->GXZ1 = localP->GXZ1_Gain * localB->GXZ6; |
| 1500 | |
| 1501 | /* Gain: '<S10>/GXZ9' */ |
| 1502 | localB->GXZ9 = localP->GXZ9_Gain * localB->GXZ1; |
| 1503 | |
| 1504 | /* Product: '<S10>/Product' */ |
| 1505 | localB->Product = (real_T)localB->KG_En * localB->GXZ9; |
| 1506 | |
| 1507 | /* DataStoreRead: '<S10>/EN_extern' */ |
| 1508 | localB->EN_extern = *rtd_EN_extern; |
| 1509 | |
| 1510 | /* Gain: '<S10>/GXZ7' */ |
| 1511 | localB->GXZ7 = localP->GXZ7_Gain * localB->GXZ6; |
| 1512 | |
| 1513 | /* Fcn: '<S65>/Fcn1' */ |
| 1514 | localB->Fcn1 = localB->GXZ7 + 265.5; |
| 1515 | |
| 1516 | /* Fcn: '<S65>/Fcn2' */ |
| 1517 | localB->Fcn2 = (90490.25 - localB->Fcn1 * localB->Fcn1) / 20000.0; |
| 1518 | |
| 1519 | /* Fcn: '<S65>/Fcn3' */ |
| 1520 | u = (7.0490249999999985 - localB->Fcn2 * localB->Fcn2) + 1.0; |
| 1521 | if (u < 0.0) { |
| 1522 | u = -sqrt(-u); |
| 1523 | } else { |
| 1524 | u = sqrt(u); |
| 1525 | } |
| 1526 | |
| 1527 | localB->Fcn3 = (2.655 - u) / (localB->Fcn2 + 1.0); |
| 1528 | |
| 1529 | /* End of Fcn: '<S65>/Fcn3' */ |
| 1530 | |
| 1531 | /* Fcn: '<S65>/Fcn6' */ |
| 1532 | localB->Fcn6 = 2.0 * atan(localB->Fcn3); |
| 1533 | |
| 1534 | /* Gain: '<S10>/GXZ8' */ |
| 1535 | localB->GXZ8 = localP->GXZ8_Gain * localB->Fcn6; |
| 1536 | |
| 1537 | /* Product: '<S10>/Product3' */ |
| 1538 | localB->Product3 = (real_T)localB->EN_extern * localB->GXZ8; |
| 1539 | |
| 1540 | /* Sum: '<S10>/Sum2' */ |
| 1541 | localB->Sum2 = (localB->DataStoreRead3 + localB->Product) - localB->Product3; |
| 1542 | |
| 1543 | /* Sum: '<S10>/Sum' */ |
| 1544 | localB->Sum = ((localB->chu_jd + localB->Product2) + localB->DataStoreRead2) - |
| 1545 | localB->Sum2; |
| 1546 | |
| 1547 | /* Saturate: '<S10>/JD_e(k)' */ |
| 1548 | u = localB->Sum; |
| 1549 | u1 = localP->JD_ek_LowerSat; |
| 1550 | u2 = localP->JD_ek_UpperSat; |
| 1551 | if (u > u2) { |
| 1552 | localB->JD_ek = u2; |
| 1553 | } else if (u < u1) { |
| 1554 | localB->JD_ek = u1; |
| 1555 | } else { |
| 1556 | localB->JD_ek = u; |
| 1557 | } |
| 1558 | |
| 1559 | /* End of Saturate: '<S10>/JD_e(k)' */ |
| 1560 | |
| 1561 | /* Gain: '<S10>/CDB_XHHY' */ |
| 1562 | localB->CDB_XHHY = localP->CDB_XHHY_Gain * localB->JD_ek; |
| 1563 | |
| 1564 | /* DiscreteIntegrator: '<S58>/Discrete-Time Integrator' */ |
| 1565 | localB->DiscreteTimeIntegrator = localDW->DiscreteTimeIntegrator_DSTATE; |
| 1566 | |
| 1567 | /* DataStoreRead: '<S58>/P_KP' */ |
| 1568 | localB->P_KP = *rtd_P_KP; |
| 1569 | |
| 1570 | /* Product: '<S58>/Product' */ |
| 1571 | localB->Product_k = localB->CDB_XHHY * localB->P_KP; |
| 1572 | |
| 1573 | /* Gain: '<S58>/ZP_Kp2' */ |
| 1574 | localB->ZP_Kp2 = localP->ZP_Kp2_Gain * localB->Product_k; |
| 1575 | |
| 1576 | /* Gain: '<S58>/ZV_KD1' */ |
| 1577 | localB->ZV_KD1 = localP->ZV_KD1_Gain * localB->ZP_Kp2; |
| 1578 | |
| 1579 | /* Sum: '<S58>/Sum' */ |
| 1580 | localB->Sum_e = localB->ZV_KD1 - localB->DiscreteTimeIntegrator; |
| 1581 | |
| 1582 | /* Gain: '<S58>/ZP_KN' */ |
| 1583 | localB->ZP_KN = localP->ZP_KN_Gain * localB->Sum_e; |
| 1584 | |
| 1585 | /* Gain: '<S58>/KD_KG' */ |
| 1586 | localB->KD_KG = localP->KD_KG_Gain * localB->ZP_KN; |
| 1587 | |
| 1588 | /* Gain: '<S58>/ZP_Kp1' */ |
| 1589 | localB->ZP_Kp1 = localP->ZP_Kp1_Gain * localB->Product_k; |
| 1590 | |
| 1591 | /* Sum: '<S58>/Sum1' */ |
| 1592 | localB->Sum1 = localB->ZP_Kp1 + localB->KD_KG; |
| 1593 | |
| 1594 | /* DataStoreRead: '<S59>/KG_clc' */ |
| 1595 | localB->KG_clc = *rtd_KG_clc; |
| 1596 | |
| 1597 | /* DiscreteIntegrator: '<S59>/Discrete-Time Integrator' */ |
| 1598 | if (((localB->KG_clc > 0) && (localDW->DiscreteTimeIntegrator_PrevRese <= 0)) || |
| 1599 | ((localB->KG_clc <= 0) && (localDW->DiscreteTimeIntegrator_PrevRese == 1))) |
| 1600 | { |
| 1601 | localDW->DiscreteTimeIntegrator_DSTATE_c = |
| 1602 | localP->DiscreteTimeIntegrator_IC_l; |
| 1603 | } |
| 1604 | |
| 1605 | if (localDW->DiscreteTimeIntegrator_DSTATE_c >= |
| 1606 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 1607 | localDW->DiscreteTimeIntegrator_DSTATE_c = |
| 1608 | localP->DiscreteTimeIntegrator_UpperSat; |
| 1609 | } else { |
| 1610 | if (localDW->DiscreteTimeIntegrator_DSTATE_c <= |
| 1611 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 1612 | localDW->DiscreteTimeIntegrator_DSTATE_c = |
| 1613 | localP->DiscreteTimeIntegrator_LowerSat; |
| 1614 | } |
| 1615 | } |
| 1616 | |
| 1617 | localB->DiscreteTimeIntegrator_b = localDW->DiscreteTimeIntegrator_DSTATE_c; |
| 1618 | |
| 1619 | /* End of DiscreteIntegrator: '<S59>/Discrete-Time Integrator' */ |
| 1620 | |
| 1621 | /* DiscreteIntegrator: '<S59>/Discrete-Time Integrator1' */ |
| 1622 | localB->DiscreteTimeIntegrator1 = localDW->DiscreteTimeIntegrator1_DSTATE; |
| 1623 | |
| 1624 | /* Saturate: '<S10>/Saturation' */ |
| 1625 | u = localB->Sum1; |
| 1626 | u1 = localP->Saturation_LowerSat; |
| 1627 | u2 = localP->Saturation_UpperSat; |
| 1628 | if (u > u2) { |
| 1629 | localB->Saturation = u2; |
| 1630 | } else if (u < u1) { |
| 1631 | localB->Saturation = u1; |
| 1632 | } else { |
| 1633 | localB->Saturation = u; |
| 1634 | } |
| 1635 | |
| 1636 | /* End of Saturate: '<S10>/Saturation' */ |
| 1637 | |
| 1638 | /* Gain: '<S10>/GXZ4' */ |
| 1639 | prevT_idx_0 = (uint32_T)localP->GXZ4_Gain; |
| 1640 | prevT_idx_1 = (uint32_T)rtu_Encode_Sp; |
| 1641 | sMultiWordMul(&prevT_idx_0, 1, &prevT_idx_1, 1, &tmp.chunks[0U], 2); |
| 1642 | localB->GXZ4 = tmp; |
| 1643 | |
| 1644 | /* Gain: '<S10>/GXZ5' */ |
| 1645 | tmp = localP->GXZ5_Gain; |
| 1646 | tmp_0 = localB->GXZ4; |
| 1647 | sMultiWordMul(&tmp.chunks[0U], 2, &tmp_0.chunks[0U], 2, &tmp_1.chunks[0U], 4); |
| 1648 | localB->GXZ5 = tmp_1; |
| 1649 | |
| 1650 | /* Sum: '<S10>/Sum1' */ |
| 1651 | tmp_1 = localB->GXZ5; |
| 1652 | localB->Sum1_n = localB->Saturation - sMultiWord2Double(&tmp_1.chunks[0U], 4, |
| 1653 | 0) * 2.0194839173657902E-28; |
| 1654 | |
| 1655 | /* Gain: '<S59>/ZV_Kp' */ |
| 1656 | localB->ZV_Kp = localP->ZV_Kp_Gain * localB->Sum1_n; |
| 1657 | |
| 1658 | /* Gain: '<S59>/ZV_Kp1' */ |
| 1659 | localB->ZV_Kp1 = localP->ZV_Kp1_Gain * localB->ZV_Kp; |
| 1660 | |
| 1661 | /* Gain: '<S59>/ZV_KD' */ |
| 1662 | localB->ZV_KD = localP->ZV_KD_Gain * localB->ZV_Kp1; |
| 1663 | |
| 1664 | /* Sum: '<S59>/Sum' */ |
| 1665 | localB->Sum_i = localB->ZV_KD - localB->DiscreteTimeIntegrator1; |
| 1666 | |
| 1667 | /* Gain: '<S59>/ZV_KN' */ |
| 1668 | localB->ZV_KN = localP->ZV_KN_Gain * localB->Sum_i; |
| 1669 | |
| 1670 | /* Saturate: '<S59>/Saturation' */ |
| 1671 | u = localB->ZV_KN; |
| 1672 | u1 = localP->Saturation_LowerSat_p; |
| 1673 | u2 = localP->Saturation_UpperSat_f; |
| 1674 | if (u > u2) { |
| 1675 | localB->Saturation_p = u2; |
| 1676 | } else if (u < u1) { |
| 1677 | localB->Saturation_p = u1; |
| 1678 | } else { |
| 1679 | localB->Saturation_p = u; |
| 1680 | } |
| 1681 | |
| 1682 | /* End of Saturate: '<S59>/Saturation' */ |
| 1683 | |
| 1684 | /* Gain: '<S59>/KD_KG' */ |
| 1685 | localB->KD_KG_a = localP->KD_KG_Gain_c * localB->Saturation_p; |
| 1686 | |
| 1687 | /* DataStoreRead: '<S59>/V_KP' */ |
| 1688 | localB->V_KP = *rtd_V_KP; |
| 1689 | |
| 1690 | /* Product: '<S59>/Product' */ |
| 1691 | localB->Product_p = localB->ZV_Kp * localB->V_KP; |
| 1692 | |
| 1693 | /* DataStoreRead: '<S59>/V_KI' */ |
| 1694 | localB->V_KI = *rtd_V_KI; |
| 1695 | |
| 1696 | /* Product: '<S59>/Product1' */ |
| 1697 | localB->Product1 = localB->ZV_Kp * localB->V_KI; |
| 1698 | |
| 1699 | /* DataStoreRead: '<S10>/Forword' */ |
| 1700 | localB->Forword = *rtd_Forword; |
| 1701 | |
| 1702 | /* Saturate: '<S10>/Saturation1' */ |
| 1703 | u = localB->Saturation; |
| 1704 | u1 = localP->Saturation1_LowerSat; |
| 1705 | u2 = localP->Saturation1_UpperSat; |
| 1706 | if (u > u2) { |
| 1707 | localB->Saturation1 = u2; |
| 1708 | } else if (u < u1) { |
| 1709 | localB->Saturation1 = u1; |
| 1710 | } else { |
| 1711 | localB->Saturation1 = u; |
| 1712 | } |
| 1713 | |
| 1714 | /* End of Saturate: '<S10>/Saturation1' */ |
| 1715 | |
| 1716 | /* Product: '<S10>/Product4' */ |
| 1717 | localB->Product4 = (real_T)localB->Forword * localB->Saturation1; |
| 1718 | |
| 1719 | /* Signum: '<S59>/Sign' */ |
| 1720 | u = localB->Product4; |
| 1721 | if (u < 0.0) { |
| 1722 | localB->Sign = -1.0; |
| 1723 | } else if (u > 0.0) { |
| 1724 | localB->Sign = 1.0; |
| 1725 | } else { |
| 1726 | localB->Sign = u; |
| 1727 | } |
| 1728 | |
| 1729 | /* End of Signum: '<S59>/Sign' */ |
| 1730 | |
| 1731 | /* Gain: '<S59>/ZV1_Kp1' */ |
| 1732 | localB->ZV1_Kp1 = localP->ZV1_Kp1_Gain * localB->Product4; |
| 1733 | |
| 1734 | /* Gain: '<S59>/ZV1_Kp2' */ |
| 1735 | localB->ZV1_Kp2 = localP->ZV1_Kp2_Gain * localB->Sign; |
| 1736 | |
| 1737 | /* Sum: '<S59>/Sum2' */ |
| 1738 | localB->Sum2_h = (localB->DiscreteTimeIntegrator_b + localB->Product_p) + |
| 1739 | localB->KD_KG_a; |
| 1740 | |
| 1741 | /* Sum: '<S59>/Sum1' */ |
| 1742 | localB->Sum1_i = (localB->ZV1_Kp1 + localB->ZV1_Kp2) + localB->Sum2_h; |
| 1743 | |
| 1744 | /* Gain: '<S10>/KP_JD1' */ |
| 1745 | localB->KP_JD1 = localP->KP_JD1_Gain * localB->GXZ7; |
| 1746 | |
| 1747 | /* DataTypeConversion: '<S10>/Data Type Conversion4' */ |
| 1748 | u = fmod(floor(localB->KP_JD1), 4.294967296E+9); |
| 1749 | localB->DataTypeConversion4 = u < 0.0 ? -(int32_T)(uint32_T)-u : (int32_T) |
| 1750 | (uint32_T)u; |
| 1751 | |
| 1752 | /* Gain: '<S10>/KP_JD' */ |
| 1753 | localB->KP_JD = localP->KP_JD_Gain * localB->GXZ8; |
| 1754 | |
| 1755 | /* Gain: '<S10>/KP_e' */ |
| 1756 | localB->KP_e = localP->KP_e_Gain * localB->Sum; |
| 1757 | |
| 1758 | /* Saturate: '<S10>/ZXF_PID' */ |
| 1759 | u = localB->Sum1_i; |
| 1760 | u1 = localP->ZXF_PID_LowerSat; |
| 1761 | u2 = localP->ZXF_PID_UpperSat; |
| 1762 | if (u > u2) { |
| 1763 | localB->ZXF_PID = u2; |
| 1764 | } else if (u < u1) { |
| 1765 | localB->ZXF_PID = u1; |
| 1766 | } else { |
| 1767 | localB->ZXF_PID = u; |
| 1768 | } |
| 1769 | |
| 1770 | /* End of Saturate: '<S10>/ZXF_PID' */ |
| 1771 | |
| 1772 | /* Sum: '<S10>/Subtract' incorporates: |
| 1773 | * Constant: '<S10>/Con_ZPWM' |
| 1774 | */ |
| 1775 | localB->Subtract = localB->ZXF_PID + localP->Con_ZPWM_Value; |
| 1776 | |
| 1777 | /* Saturate: '<S10>/ZXF_PWM' */ |
| 1778 | u = localB->Subtract; |
| 1779 | u1 = localP->ZXF_PWM_LowerSat; |
| 1780 | u2 = localP->ZXF_PWM_UpperSat; |
| 1781 | if (u > u2) { |
| 1782 | localB->ZXF_PWM = u2; |
| 1783 | } else if (u < u1) { |
| 1784 | localB->ZXF_PWM = u1; |
| 1785 | } else { |
| 1786 | localB->ZXF_PWM = u; |
| 1787 | } |
| 1788 | |
| 1789 | /* End of Saturate: '<S10>/ZXF_PWM' */ |
| 1790 | |
| 1791 | /* If: '<S10>/If' */ |
| 1792 | if (rtu_Slect_port == 5) { |
| 1793 | /* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem3' incorporates: |
| 1794 | * ActionPort: '<S62>/Action Port' |
| 1795 | */ |
| 1796 | /* DataStoreWrite: '<S62>/Data Store Write' */ |
| 1797 | *rtd_JD_XHZY_HC = rtu_JD_In; |
| 1798 | |
| 1799 | /* DataStoreWrite: '<S62>/Data Store Write1' */ |
| 1800 | *rtd_JD_XHZY = rtu_JD_In; |
| 1801 | |
| 1802 | /* DataStoreWrite: '<S62>/Data Store Write2' */ |
| 1803 | *rtd_YJ_XHZY_HC = rtu_YJ_In; |
| 1804 | |
| 1805 | /* DataStoreWrite: '<S62>/Data Store Write3' */ |
| 1806 | *rtd_YJ_XHZY = rtu_YJ_In; |
| 1807 | |
| 1808 | /* End of Outputs for SubSystem: '<S10>/If Action Subsystem3' */ |
| 1809 | } else if (rtu_Slect_port == 4) { |
| 1810 | /* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem1' incorporates: |
| 1811 | * ActionPort: '<S60>/Action Port' |
| 1812 | */ |
| 1813 | /* DataStoreRead: '<S60>/Data Store Read' */ |
| 1814 | localB->DataStoreRead_m = *rtd_JD_XHZY_HC; |
| 1815 | |
| 1816 | /* DataStoreWrite: '<S60>/Data Store Write1' */ |
| 1817 | *rtd_JD_XHZY = localB->DataStoreRead_m; |
| 1818 | |
| 1819 | /* DataStoreRead: '<S60>/Data Store Read1' */ |
| 1820 | localB->DataStoreRead1_d = *rtd_YJ_XHZY_HC; |
| 1821 | |
| 1822 | /* DataStoreWrite: '<S60>/Data Store Write2' */ |
| 1823 | *rtd_YJ_XHZY = localB->DataStoreRead1_d; |
| 1824 | |
| 1825 | /* End of Outputs for SubSystem: '<S10>/If Action Subsystem1' */ |
| 1826 | } else { |
| 1827 | /* Outputs for IfAction SubSystem: '<S10>/If Action Subsystem2' incorporates: |
| 1828 | * ActionPort: '<S61>/Action Port' |
| 1829 | */ |
| 1830 | /* DataStoreWrite: '<S61>/Data Store Write' */ |
| 1831 | *rtd_JD_XHZY_HC = rtu_JD_In; |
| 1832 | |
| 1833 | /* DataStoreWrite: '<S61>/Data Store Write1' */ |
| 1834 | *rtd_JD_XHZY = rtu_JD_In; |
| 1835 | |
| 1836 | /* DataStoreWrite: '<S61>/Data Store Write2' */ |
| 1837 | *rtd_YJ_XHZY_HC = rtu_YJ_In; |
| 1838 | |
| 1839 | /* DataStoreWrite: '<S61>/Data Store Write3' */ |
| 1840 | *rtd_YJ_XHZY = rtu_YJ_In; |
| 1841 | |
| 1842 | /* End of Outputs for SubSystem: '<S10>/If Action Subsystem2' */ |
| 1843 | } |
| 1844 | |
| 1845 | /* End of If: '<S10>/If' */ |
| 1846 | |
| 1847 | /* DataStoreRead: '<S10>/KG_JD1' */ |
| 1848 | localB->KG_JD1 = *rtd_EN_extern; |
| 1849 | |
| 1850 | /* DataStoreRead: '<S10>/KG_JD' */ |
| 1851 | localB->KG_JD = *rtd_KG_JD; |
| 1852 | |
| 1853 | /* DataStoreRead: '<S10>/Data Store Read' */ |
| 1854 | localB->DataStoreRead = *rtd_JD_XHZY; |
| 1855 | |
| 1856 | /* DataTypeConversion: '<S10>/Data Type Conversion2' */ |
| 1857 | localB->DataTypeConversion2 = localB->DataStoreRead; |
| 1858 | |
| 1859 | /* Gain: '<S10>/GXZ3' */ |
| 1860 | localB->GXZ3 = localP->GXZ3_Gain * localB->DataTypeConversion2; |
| 1861 | |
| 1862 | /* Gain: '<S10>/GXZ10' */ |
| 1863 | localB->GXZ10 = localP->GXZ10_Gain * localB->GXZ3; |
| 1864 | |
| 1865 | /* Saturate: '<S10>/XF_XHZY' */ |
| 1866 | u = localB->GXZ10; |
| 1867 | u1 = localP->XF_XHZY_LowerSat; |
| 1868 | u2 = localP->XF_XHZY_UpperSat; |
| 1869 | if (u > u2) { |
| 1870 | localB->XF_XHZY = u2; |
| 1871 | } else if (u < u1) { |
| 1872 | localB->XF_XHZY = u1; |
| 1873 | } else { |
| 1874 | localB->XF_XHZY = u; |
| 1875 | } |
| 1876 | |
| 1877 | /* End of Saturate: '<S10>/XF_XHZY' */ |
| 1878 | |
| 1879 | /* Product: '<S10>/Product1' */ |
| 1880 | localB->Product1_a = (real_T)localB->KG_JD * localB->XF_XHZY; |
| 1881 | |
| 1882 | /* If: '<S10>/If1' */ |
| 1883 | if (localB->KG_JD1 > 0) { |
| 1884 | /* Outputs for IfAction SubSystem: '<S10>/Switch Case Action Subsystem' incorporates: |
| 1885 | * ActionPort: '<S63>/Action Port' |
| 1886 | */ |
| 1887 | /* DataStoreWrite: '<S63>/Data Store Write' */ |
| 1888 | *rtd_Angle_extern = localB->Product1_a; |
| 1889 | |
| 1890 | /* DataStoreWrite: '<S63>/Data Store Write1' incorporates: |
| 1891 | * Constant: '<S63>/Constant' |
| 1892 | */ |
| 1893 | *rtd_Angle_internal = localP->Constant_Value; |
| 1894 | |
| 1895 | /* End of Outputs for SubSystem: '<S10>/Switch Case Action Subsystem' */ |
| 1896 | } else { |
| 1897 | /* Outputs for IfAction SubSystem: '<S10>/Switch Case Action Subsystem1' incorporates: |
| 1898 | * ActionPort: '<S64>/Action Port' |
| 1899 | */ |
| 1900 | /* DataStoreWrite: '<S64>/Data Store Write1' */ |
| 1901 | *rtd_Angle_internal = localB->Product1_a; |
| 1902 | |
| 1903 | /* DataStoreWrite: '<S64>/Data Store Write' incorporates: |
| 1904 | * Constant: '<S64>/Constant' |
| 1905 | */ |
| 1906 | *rtd_Angle_extern = localP->Constant_Value_k; |
| 1907 | |
| 1908 | /* End of Outputs for SubSystem: '<S10>/Switch Case Action Subsystem1' */ |
| 1909 | } |
| 1910 | |
| 1911 | /* End of If: '<S10>/If1' */ |
| 1912 | |
| 1913 | /* Update for DiscreteIntegrator: '<S58>/Discrete-Time Integrator' */ |
| 1914 | localDW->DiscreteTimeIntegrator_DSTATE += |
| 1915 | localP->DiscreteTimeIntegrator_gainval * (real_T)localDW-> |
| 1916 | Motor_XHZY_ELAPS_T[0] * localB->ZP_KN; |
| 1917 | |
| 1918 | /* Update for DiscreteIntegrator: '<S59>/Discrete-Time Integrator' */ |
| 1919 | localDW->DiscreteTimeIntegrator_DSTATE_c += |
| 1920 | localP->DiscreteTimeIntegrator_gainva_m * (real_T) |
| 1921 | localDW->Motor_XHZY_ELAPS_T[0] * localB->Product1; |
| 1922 | if (localDW->DiscreteTimeIntegrator_DSTATE_c >= |
| 1923 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 1924 | localDW->DiscreteTimeIntegrator_DSTATE_c = |
| 1925 | localP->DiscreteTimeIntegrator_UpperSat; |
| 1926 | } else { |
| 1927 | if (localDW->DiscreteTimeIntegrator_DSTATE_c <= |
| 1928 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 1929 | localDW->DiscreteTimeIntegrator_DSTATE_c = |
| 1930 | localP->DiscreteTimeIntegrator_LowerSat; |
| 1931 | } |
| 1932 | } |
| 1933 | |
| 1934 | localDW->DiscreteTimeIntegrator_PrevRese = (int8_T)(localB->KG_clc > 0); |
| 1935 | |
| 1936 | /* End of Update for DiscreteIntegrator: '<S59>/Discrete-Time Integrator' */ |
| 1937 | |
| 1938 | /* Update for DiscreteIntegrator: '<S59>/Discrete-Time Integrator1' */ |
| 1939 | localDW->DiscreteTimeIntegrator1_DSTATE += |
| 1940 | localP->DiscreteTimeIntegrator1_gainval * (real_T) |
| 1941 | localDW->Motor_XHZY_ELAPS_T[0] * localB->ZV_KN; |
| 1942 | } |
| 1943 | |
| 1944 | /* |
| 1945 | * Initial conditions for action system: |
| 1946 | * '<S23>/If Action Subsystem' |
| 1947 | * '<S24>/If Action Subsystem' |
| 1948 | * '<S25>/If Action Subsystem' |
| 1949 | */ |
| 1950 | void motor_IfActionSubsystem_Init(rtDW_IfActionSubsystem_motor_n *localDW) |
| 1951 | { |
| 1952 | /* InitializeConditions for DiscretePulseGenerator: '<S26>/Pulse Generator' */ |
| 1953 | localDW->clockTickCounter = 0; |
| 1954 | } |
| 1955 | |
| 1956 | /* |
| 1957 | * Start for action system: |
| 1958 | * '<S23>/If Action Subsystem' |
| 1959 | * '<S24>/If Action Subsystem' |
| 1960 | * '<S25>/If Action Subsystem' |
| 1961 | */ |
| 1962 | void motor_IfActionSubsystem_Start(rtDW_IfActionSubsystem_motor_n *localDW) |
| 1963 | { |
| 1964 | /* InitializeConditions for IfAction SubSystem: '<S23>/If Action Subsystem' */ |
| 1965 | motor_IfActionSubsystem_Init(localDW); |
| 1966 | |
| 1967 | /* End of InitializeConditions for SubSystem: '<S23>/If Action Subsystem' */ |
| 1968 | } |
| 1969 | |
| 1970 | /* |
| 1971 | * Output and update for action system: |
| 1972 | * '<S23>/If Action Subsystem' |
| 1973 | * '<S24>/If Action Subsystem' |
| 1974 | * '<S25>/If Action Subsystem' |
| 1975 | */ |
| 1976 | void motor_IfActionSubsystem(rtB_IfActionSubsystem_motor_k *localB, |
| 1977 | rtDW_IfActionSubsystem_motor_n *localDW, rtP_IfActionSubsystem_motor_m *localP, |
| 1978 | boolean_T *rtd_PC1, boolean_T *rtd_PC2) |
| 1979 | { |
| 1980 | /* DiscretePulseGenerator: '<S26>/Pulse Generator' */ |
| 1981 | localB->PulseGenerator = (localDW->clockTickCounter < |
| 1982 | localP->PulseGenerator_Duty) && (localDW->clockTickCounter >= 0) ? |
| 1983 | localP->PulseGenerator_Amp : 0.0; |
| 1984 | if (localDW->clockTickCounter >= localP->PulseGenerator_Period - 1.0) { |
| 1985 | localDW->clockTickCounter = 0; |
| 1986 | } else { |
| 1987 | localDW->clockTickCounter++; |
| 1988 | } |
| 1989 | |
| 1990 | /* End of DiscretePulseGenerator: '<S26>/Pulse Generator' */ |
| 1991 | |
| 1992 | /* DataTypeConversion: '<S26>/Data Type Conversion' */ |
| 1993 | localB->DataTypeConversion = (localB->PulseGenerator != 0.0); |
| 1994 | |
| 1995 | /* DataStoreWrite: '<S26>/Data Store Write' */ |
| 1996 | *rtd_PC1 = localB->DataTypeConversion; |
| 1997 | |
| 1998 | /* DataStoreWrite: '<S26>/Data Store Write1' */ |
| 1999 | *rtd_PC2 = localB->DataTypeConversion; |
| 2000 | } |
| 2001 | |
| 2002 | /* |
| 2003 | * Initial conditions for action system: |
| 2004 | * '<S23>/If Action Subsystem1' |
| 2005 | * '<S24>/If Action Subsystem1' |
| 2006 | * '<S25>/If Action Subsystem1' |
| 2007 | */ |
| 2008 | void motor_IfActionSubsystem1_Init(rtDW_IfActionSubsystem1_motor *localDW) |
| 2009 | { |
| 2010 | /* InitializeConditions for DiscretePulseGenerator: '<S27>/Pulse Generator' */ |
| 2011 | localDW->clockTickCounter = 0; |
| 2012 | } |
| 2013 | |
| 2014 | /* |
| 2015 | * Start for action system: |
| 2016 | * '<S23>/If Action Subsystem1' |
| 2017 | * '<S24>/If Action Subsystem1' |
| 2018 | * '<S25>/If Action Subsystem1' |
| 2019 | */ |
| 2020 | void motor_IfActionSubsystem1_Start(rtDW_IfActionSubsystem1_motor *localDW) |
| 2021 | { |
| 2022 | /* InitializeConditions for IfAction SubSystem: '<S23>/If Action Subsystem1' */ |
| 2023 | motor_IfActionSubsystem1_Init(localDW); |
| 2024 | |
| 2025 | /* End of InitializeConditions for SubSystem: '<S23>/If Action Subsystem1' */ |
| 2026 | } |
| 2027 | |
| 2028 | /* |
| 2029 | * Output and update for action system: |
| 2030 | * '<S23>/If Action Subsystem1' |
| 2031 | * '<S24>/If Action Subsystem1' |
| 2032 | * '<S25>/If Action Subsystem1' |
| 2033 | */ |
| 2034 | void motor_IfActionSubsystem1(rtB_IfActionSubsystem1_motor *localB, |
| 2035 | rtDW_IfActionSubsystem1_motor *localDW, rtP_IfActionSubsystem1_motor *localP, |
| 2036 | boolean_T *rtd_PC1, boolean_T *rtd_PC2) |
| 2037 | { |
| 2038 | /* DataStoreWrite: '<S27>/Data Store Write1' incorporates: |
| 2039 | * Constant: '<S27>/Constant' |
| 2040 | */ |
| 2041 | *rtd_PC2 = localP->Constant_Value; |
| 2042 | |
| 2043 | /* DiscretePulseGenerator: '<S27>/Pulse Generator' */ |
| 2044 | localB->PulseGenerator = (localDW->clockTickCounter < |
| 2045 | localP->PulseGenerator_Duty) && (localDW->clockTickCounter >= 0) ? |
| 2046 | localP->PulseGenerator_Amp : 0.0; |
| 2047 | if (localDW->clockTickCounter >= localP->PulseGenerator_Period - 1.0) { |
| 2048 | localDW->clockTickCounter = 0; |
| 2049 | } else { |
| 2050 | localDW->clockTickCounter++; |
| 2051 | } |
| 2052 | |
| 2053 | /* End of DiscretePulseGenerator: '<S27>/Pulse Generator' */ |
| 2054 | |
| 2055 | /* DataTypeConversion: '<S27>/Data Type Conversion' */ |
| 2056 | localB->DataTypeConversion = (localB->PulseGenerator != 0.0); |
| 2057 | |
| 2058 | /* DataStoreWrite: '<S27>/Data Store Write' */ |
| 2059 | *rtd_PC1 = localB->DataTypeConversion; |
| 2060 | } |
| 2061 | |
| 2062 | /* |
| 2063 | * Start for action system: |
| 2064 | * '<S5>/If Action Subsystem' |
| 2065 | * '<S5>/If Action Subsystem2' |
| 2066 | */ |
| 2067 | void motor_IfActionSubsystem_p_Start(rtDW_IfActionSubsystem_motor *localDW) |
| 2068 | { |
| 2069 | /* Start for IfAction SubSystem: '<S23>/If Action Subsystem' */ |
| 2070 | motor_IfActionSubsystem_Start(&localDW->IfActionSubsystem); |
| 2071 | |
| 2072 | /* End of Start for SubSystem: '<S23>/If Action Subsystem' */ |
| 2073 | |
| 2074 | /* Start for IfAction SubSystem: '<S23>/If Action Subsystem1' */ |
| 2075 | motor_IfActionSubsystem1_Start(&localDW->IfActionSubsystem1); |
| 2076 | |
| 2077 | /* End of Start for SubSystem: '<S23>/If Action Subsystem1' */ |
| 2078 | } |
| 2079 | |
| 2080 | /* |
| 2081 | * Output and update for action system: |
| 2082 | * '<S5>/If Action Subsystem' |
| 2083 | * '<S5>/If Action Subsystem2' |
| 2084 | */ |
| 2085 | void motor_IfActionSubsystem_n(real_T rtu_In1, rtB_IfActionSubsystem_motor |
| 2086 | *localB, rtDW_IfActionSubsystem_motor *localDW, rtP_IfActionSubsystem_motor |
| 2087 | *localP, boolean_T *rtd_PC1, boolean_T *rtd_PC2) |
| 2088 | { |
| 2089 | /* If: '<S23>/If' */ |
| 2090 | if (rtu_In1 == 2.0) { |
| 2091 | /* Outputs for IfAction SubSystem: '<S23>/If Action Subsystem' incorporates: |
| 2092 | * ActionPort: '<S26>/Action Port' |
| 2093 | */ |
| 2094 | motor_IfActionSubsystem(&localB->IfActionSubsystem, |
| 2095 | &localDW->IfActionSubsystem, (rtP_IfActionSubsystem_motor_m *) |
| 2096 | &localP->IfActionSubsystem, rtd_PC1, rtd_PC2); |
| 2097 | |
| 2098 | /* End of Outputs for SubSystem: '<S23>/If Action Subsystem' */ |
| 2099 | } else if (rtu_In1 == 3.0) { |
| 2100 | /* Outputs for IfAction SubSystem: '<S23>/If Action Subsystem1' incorporates: |
| 2101 | * ActionPort: '<S27>/Action Port' |
| 2102 | */ |
| 2103 | motor_IfActionSubsystem1(&localB->IfActionSubsystem1, |
| 2104 | &localDW->IfActionSubsystem1, (rtP_IfActionSubsystem1_motor *) |
| 2105 | &localP->IfActionSubsystem1, rtd_PC1, rtd_PC2); |
| 2106 | |
| 2107 | /* End of Outputs for SubSystem: '<S23>/If Action Subsystem1' */ |
| 2108 | } else { |
| 2109 | /* Outputs for IfAction SubSystem: '<S23>/If Action Subsystem2' incorporates: |
| 2110 | * ActionPort: '<S28>/Action Port' |
| 2111 | */ |
| 2112 | /* DataStoreWrite: '<S28>/Data Store Write' incorporates: |
| 2113 | * Constant: '<S28>/Constant' |
| 2114 | */ |
| 2115 | *rtd_PC1 = localP->Constant_Value; |
| 2116 | |
| 2117 | /* DataStoreWrite: '<S28>/Data Store Write1' incorporates: |
| 2118 | * Constant: '<S28>/Constant1' |
| 2119 | */ |
| 2120 | *rtd_PC2 = localP->Constant1_Value; |
| 2121 | |
| 2122 | /* End of Outputs for SubSystem: '<S23>/If Action Subsystem2' */ |
| 2123 | } |
| 2124 | |
| 2125 | /* End of If: '<S23>/If' */ |
| 2126 | } |
| 2127 | |
| 2128 | /* Initial conditions for function-call system: '<S1>/Motor_HYDG1' */ |
| 2129 | void motor_Motor_HYDG1_Init(RT_MODEL_motor * const motor_M, |
| 2130 | rtDW_Motor_HYDG1_motor *localDW, rtP_Motor_HYDG1_motor *localP) |
| 2131 | { |
| 2132 | uint32_T prevT_idx_0; |
| 2133 | uint32_T prevT_idx_1; |
| 2134 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 2135 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 2136 | localDW->Motor_HYDG1_PREV_T[0] = prevT_idx_0; |
| 2137 | localDW->Motor_HYDG1_PREV_T[1] = prevT_idx_1; |
| 2138 | |
| 2139 | /* InitializeConditions for DiscreteIntegrator: '<S42>/Discrete-Time Integrator' */ |
| 2140 | localDW->DiscreteTimeIntegrator_DSTATE = localP->DiscreteTimeIntegrator_IC; |
| 2141 | |
| 2142 | /* InitializeConditions for DiscreteIntegrator: '<S43>/Discrete-Time Integrator' */ |
| 2143 | localDW->DiscreteTimeIntegrator_DSTATE_a = localP->DiscreteTimeIntegrator_IC_g; |
| 2144 | localDW->DiscreteTimeIntegrator_PrevRese = 2; |
| 2145 | |
| 2146 | /* InitializeConditions for DiscreteIntegrator: '<S43>/Discrete-Time Integrator1' */ |
| 2147 | localDW->DiscreteTimeIntegrator1_DSTATE = localP->DiscreteTimeIntegrator1_IC; |
| 2148 | |
| 2149 | /* InitializeConditions for UnitDelay: '<S8>/Unit Delay' */ |
| 2150 | localDW->UnitDelay_DSTATE = localP->UnitDelay_InitialCondition; |
| 2151 | } |
| 2152 | |
| 2153 | /* Output and update for function-call system: '<S1>/Motor_HYDG1' */ |
| 2154 | void motor_Motor_HYDG1(RT_MODEL_motor * const motor_M, int32_T rtu_JD_In, |
| 2155 | int32_T rtu_Encode_Pos, uint8_T rtu_Slect_port, rtB_Motor_HYDG1_motor *localB, |
| 2156 | rtDW_Motor_HYDG1_motor *localDW, rtP_Motor_HYDG1_motor *localP, int32_T |
| 2157 | *rtd_JD_HYDG, int32_T *rtd_JD_HYDG_HC, uint8_T *rtd_KG_JD, uint8_T *rtd_KG_clc, |
| 2158 | real_T *rtd_P_KP, real_T *rtd_Saturation_limit_speed, real_T *rtd_V_KI, real_T |
| 2159 | *rtd_V_KP, real_T *rtd_chu_jd) |
| 2160 | { |
| 2161 | int128m_T tmp; |
| 2162 | int128m_T tmp_0; |
| 2163 | uint32_T elapseT_H; |
| 2164 | uint32_T prevT_idx_0; |
| 2165 | uint32_T elapseTime_idx_0; |
| 2166 | uint32_T prevT_idx_1; |
| 2167 | int64m_T tmp_1; |
| 2168 | int64m_T tmp_2; |
| 2169 | int128m_T tmp_3; |
| 2170 | real_T u0; |
| 2171 | real_T u1; |
| 2172 | real_T u2; |
| 2173 | prevT_idx_0 = localDW->Motor_HYDG1_PREV_T[0]; |
| 2174 | prevT_idx_1 = localDW->Motor_HYDG1_PREV_T[1]; |
| 2175 | elapseTime_idx_0 = motor_M->Timing.clockTick0 - prevT_idx_0; |
| 2176 | elapseT_H = motor_M->Timing.clockTickH0 - prevT_idx_1; |
| 2177 | if (prevT_idx_0 > motor_M->Timing.clockTick0) { |
| 2178 | elapseT_H--; |
| 2179 | } |
| 2180 | |
| 2181 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 2182 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 2183 | localDW->Motor_HYDG1_ELAPS_T[0] = elapseTime_idx_0; |
| 2184 | localDW->Motor_HYDG1_PREV_T[0] = prevT_idx_0; |
| 2185 | localDW->Motor_HYDG1_ELAPS_T[1] = elapseT_H; |
| 2186 | localDW->Motor_HYDG1_PREV_T[1] = prevT_idx_1; |
| 2187 | |
| 2188 | /* DiscreteIntegrator: '<S42>/Discrete-Time Integrator' */ |
| 2189 | localB->DiscreteTimeIntegrator = localDW->DiscreteTimeIntegrator_DSTATE; |
| 2190 | |
| 2191 | /* DataStoreRead: '<S8>/chu_jd' */ |
| 2192 | localB->chu_jd = *rtd_chu_jd; |
| 2193 | |
| 2194 | /* DataStoreRead: '<S8>/KG_JD' */ |
| 2195 | localB->KG_JD = *rtd_KG_JD; |
| 2196 | |
| 2197 | /* DataStoreRead: '<S8>/Data Store Read' */ |
| 2198 | localB->DataStoreRead = *rtd_JD_HYDG; |
| 2199 | |
| 2200 | /* Gain: '<S8>/GHDG10' */ |
| 2201 | prevT_idx_0 = (uint32_T)localP->GHDG10_Gain; |
| 2202 | prevT_idx_1 = (uint32_T)localB->DataStoreRead; |
| 2203 | sMultiWordMul(&prevT_idx_0, 1, &prevT_idx_1, 1, &tmp_1.chunks[0U], 2); |
| 2204 | localB->GHDG10 = tmp_1; |
| 2205 | |
| 2206 | /* Gain: '<S8>/GHDG1' */ |
| 2207 | tmp_1 = localP->GHDG1_Gain; |
| 2208 | tmp_2 = localB->GHDG10; |
| 2209 | sMultiWordMul(&tmp_1.chunks[0U], 2, &tmp_2.chunks[0U], 2, &tmp_3.chunks[0U], 4); |
| 2210 | localB->GHDG1 = tmp_3; |
| 2211 | |
| 2212 | /* Saturate: '<S8>/XF_XHZY' */ |
| 2213 | tmp_3 = localB->GHDG1; |
| 2214 | tmp = localP->XF_XHZY_LowerSat; |
| 2215 | tmp_0 = localP->XF_XHZY_UpperSat; |
| 2216 | if (sMultiWordGt(&tmp_3.chunks[0U], &tmp_0.chunks[0U], 4)) { |
| 2217 | localB->XF_XHZY = tmp_0; |
| 2218 | } else if (sMultiWordLt(&tmp_3.chunks[0U], &tmp.chunks[0U], 4)) { |
| 2219 | localB->XF_XHZY = tmp; |
| 2220 | } else { |
| 2221 | localB->XF_XHZY = tmp_3; |
| 2222 | } |
| 2223 | |
| 2224 | /* End of Saturate: '<S8>/XF_XHZY' */ |
| 2225 | |
| 2226 | /* Product: '<S8>/Product' */ |
| 2227 | tmp_3 = localB->XF_XHZY; |
| 2228 | localB->Product = sMultiWord2Double(&tmp_3.chunks[0U], 4, 0) * |
| 2229 | 9.8607613152626476E-32 * (real_T)localB->KG_JD; |
| 2230 | |
| 2231 | /* Sum: '<S8>/Sum4' */ |
| 2232 | localB->Sum4 = localB->chu_jd + localB->Product; |
| 2233 | |
| 2234 | /* Gain: '<S8>/GHDG2' */ |
| 2235 | localB->GHDG2 = localP->GHDG2_Gain * localB->Sum4; |
| 2236 | |
| 2237 | /* Fcn: '<S47>/Fcn' */ |
| 2238 | localB->Fcn = (1.0 - cos(localB->GHDG2)) * 0.1; |
| 2239 | |
| 2240 | /* Fcn: '<S47>/Fcn1' */ |
| 2241 | localB->Fcn1 = localB->Fcn * localB->Fcn; |
| 2242 | |
| 2243 | /* Fcn: '<S47>/Fcn2' */ |
| 2244 | localB->Fcn2 = 0.2655 - 0.1 * sin(localB->GHDG2); |
| 2245 | |
| 2246 | /* Fcn: '<S47>/Fcn3' */ |
| 2247 | localB->Fcn3 = localB->Fcn2 * localB->Fcn2; |
| 2248 | |
| 2249 | /* Sum: '<S47>/Sum1' */ |
| 2250 | localB->Sum1 = localB->Fcn1 + localB->Fcn3; |
| 2251 | |
| 2252 | /* Fcn: '<S47>/Fcn4' */ |
| 2253 | u0 = localB->Sum1; |
| 2254 | if (u0 < 0.0) { |
| 2255 | u0 = -sqrt(-u0); |
| 2256 | } else { |
| 2257 | u0 = sqrt(u0); |
| 2258 | } |
| 2259 | |
| 2260 | localB->Fcn4 = u0; |
| 2261 | |
| 2262 | /* End of Fcn: '<S47>/Fcn4' */ |
| 2263 | |
| 2264 | /* Fcn: '<S47>/Fcn15' */ |
| 2265 | localB->Fcn15 = localB->Fcn4 - 0.2655; |
| 2266 | |
| 2267 | /* Gain: '<S8>/GHDG3' */ |
| 2268 | localB->GHDG3 = localP->GHDG3_Gain * localB->Fcn15; |
| 2269 | |
| 2270 | /* Gain: '<S8>/GHDG4' */ |
| 2271 | localB->GHDG4 = localP->GHDG4_Gain * localB->GHDG3; |
| 2272 | |
| 2273 | /* DataTypeConversion: '<S8>/Data Type Conversion1' */ |
| 2274 | localB->DataTypeConversion1 = rtu_Encode_Pos; |
| 2275 | |
| 2276 | /* Gain: '<S8>/GHDG5' */ |
| 2277 | localB->GHDG5 = localP->GHDG5_Gain * localB->DataTypeConversion1; |
| 2278 | |
| 2279 | /* Gain: '<S8>/fk_dg1' */ |
| 2280 | localB->fk_dg1 = localP->fk_dg1_Gain * localB->GHDG5; |
| 2281 | |
| 2282 | /* Gain: '<S8>/fk_dg' */ |
| 2283 | localB->fk_dg = localP->fk_dg_Gain * localB->fk_dg1; |
| 2284 | |
| 2285 | /* Sum: '<S8>/Sum' */ |
| 2286 | localB->Sum = localB->GHDG4 - localB->fk_dg; |
| 2287 | |
| 2288 | /* Saturate: '<S8>/Saturation1' */ |
| 2289 | u0 = localB->Sum; |
| 2290 | u1 = localP->Saturation1_LowerSat; |
| 2291 | u2 = localP->Saturation1_UpperSat; |
| 2292 | if (u0 > u2) { |
| 2293 | localB->Saturation1 = u2; |
| 2294 | } else if (u0 < u1) { |
| 2295 | localB->Saturation1 = u1; |
| 2296 | } else { |
| 2297 | localB->Saturation1 = u0; |
| 2298 | } |
| 2299 | |
| 2300 | /* End of Saturate: '<S8>/Saturation1' */ |
| 2301 | |
| 2302 | /* Gain: '<S42>/ZP_Kp' */ |
| 2303 | localB->ZP_Kp = localP->ZP_Kp_Gain * localB->Saturation1; |
| 2304 | |
| 2305 | /* Gain: '<S42>/ZV_KD1' */ |
| 2306 | localB->ZV_KD1 = localP->ZV_KD1_Gain * localB->ZP_Kp; |
| 2307 | |
| 2308 | /* Sum: '<S42>/Sum' */ |
| 2309 | localB->Sum_i = localB->ZV_KD1 - localB->DiscreteTimeIntegrator; |
| 2310 | |
| 2311 | /* Gain: '<S42>/ZP_KN' */ |
| 2312 | localB->ZP_KN = localP->ZP_KN_Gain * localB->Sum_i; |
| 2313 | |
| 2314 | /* Gain: '<S42>/KD_KG' */ |
| 2315 | localB->KD_KG = localP->KD_KG_Gain * localB->ZP_KN; |
| 2316 | |
| 2317 | /* DataStoreRead: '<S42>/P_KP' */ |
| 2318 | localB->P_KP = *rtd_P_KP; |
| 2319 | |
| 2320 | /* Product: '<S42>/Product' */ |
| 2321 | localB->Product_i = localB->ZP_Kp * localB->P_KP; |
| 2322 | |
| 2323 | /* Sum: '<S42>/Sum1' */ |
| 2324 | localB->Sum1_n = localB->Product_i + localB->KD_KG; |
| 2325 | |
| 2326 | /* DataStoreRead: '<S43>/KG_clc' */ |
| 2327 | localB->KG_clc = *rtd_KG_clc; |
| 2328 | |
| 2329 | /* DiscreteIntegrator: '<S43>/Discrete-Time Integrator' */ |
| 2330 | if (((localB->KG_clc > 0) && (localDW->DiscreteTimeIntegrator_PrevRese <= 0)) || |
| 2331 | ((localB->KG_clc <= 0) && (localDW->DiscreteTimeIntegrator_PrevRese == 1))) |
| 2332 | { |
| 2333 | localDW->DiscreteTimeIntegrator_DSTATE_a = |
| 2334 | localP->DiscreteTimeIntegrator_IC_g; |
| 2335 | } |
| 2336 | |
| 2337 | if (localDW->DiscreteTimeIntegrator_DSTATE_a >= |
| 2338 | localP->DiscreteTimeIntegrator_UpperS_j) { |
| 2339 | localDW->DiscreteTimeIntegrator_DSTATE_a = |
| 2340 | localP->DiscreteTimeIntegrator_UpperS_j; |
| 2341 | } else { |
| 2342 | if (localDW->DiscreteTimeIntegrator_DSTATE_a <= |
| 2343 | localP->DiscreteTimeIntegrator_LowerS_o) { |
| 2344 | localDW->DiscreteTimeIntegrator_DSTATE_a = |
| 2345 | localP->DiscreteTimeIntegrator_LowerS_o; |
| 2346 | } |
| 2347 | } |
| 2348 | |
| 2349 | localB->DiscreteTimeIntegrator_d = localDW->DiscreteTimeIntegrator_DSTATE_a; |
| 2350 | |
| 2351 | /* End of DiscreteIntegrator: '<S43>/Discrete-Time Integrator' */ |
| 2352 | |
| 2353 | /* DiscreteIntegrator: '<S43>/Discrete-Time Integrator1' */ |
| 2354 | localB->DiscreteTimeIntegrator1 = localDW->DiscreteTimeIntegrator1_DSTATE; |
| 2355 | |
| 2356 | /* DataStoreRead: '<S8>/Saturation_limit_speed' */ |
| 2357 | localB->Saturation_limit_speed = *rtd_Saturation_limit_speed; |
| 2358 | |
| 2359 | /* RelationalOperator: '<S48>/LowerRelop1' */ |
| 2360 | localB->LowerRelop1 = (localB->Sum1_n > localB->Saturation_limit_speed); |
| 2361 | |
| 2362 | /* Gain: '<S8>/KP_e2' */ |
| 2363 | localB->KP_e2 = localP->KP_e2_Gain * localB->Saturation_limit_speed; |
| 2364 | |
| 2365 | /* RelationalOperator: '<S48>/UpperRelop' */ |
| 2366 | localB->UpperRelop = (localB->Sum1_n < localB->KP_e2); |
| 2367 | |
| 2368 | /* Switch: '<S48>/Switch' */ |
| 2369 | if (localB->UpperRelop) { |
| 2370 | localB->Switch = localB->KP_e2; |
| 2371 | } else { |
| 2372 | localB->Switch = localB->Sum1_n; |
| 2373 | } |
| 2374 | |
| 2375 | /* End of Switch: '<S48>/Switch' */ |
| 2376 | |
| 2377 | /* Switch: '<S48>/Switch2' */ |
| 2378 | if (localB->LowerRelop1) { |
| 2379 | localB->Switch2 = localB->Saturation_limit_speed; |
| 2380 | } else { |
| 2381 | localB->Switch2 = localB->Switch; |
| 2382 | } |
| 2383 | |
| 2384 | /* End of Switch: '<S48>/Switch2' */ |
| 2385 | |
| 2386 | /* UnitDelay: '<S8>/Unit Delay' */ |
| 2387 | localB->UnitDelay = localDW->UnitDelay_DSTATE; |
| 2388 | |
| 2389 | /* Sum: '<S8>/Sum5' */ |
| 2390 | localB->Sum5 = localB->fk_dg1 - localB->UnitDelay; |
| 2391 | |
| 2392 | /* Gain: '<S8>/GXZ5' */ |
| 2393 | localB->GXZ5 = localP->GXZ5_Gain * localB->Sum5; |
| 2394 | |
| 2395 | /* Gain: '<S8>/fk_dg2' */ |
| 2396 | localB->fk_dg2 = localP->fk_dg2_Gain * localB->GXZ5; |
| 2397 | |
| 2398 | /* Sum: '<S8>/Sum2' */ |
| 2399 | localB->Sum2 = localB->Switch2 - localB->fk_dg2; |
| 2400 | |
| 2401 | /* Gain: '<S43>/ZV_Kp' */ |
| 2402 | localB->ZV_Kp = localP->ZV_Kp_Gain * localB->Sum2; |
| 2403 | |
| 2404 | /* Gain: '<S43>/ZV_Kp1' */ |
| 2405 | localB->ZV_Kp1 = localP->ZV_Kp1_Gain * localB->ZV_Kp; |
| 2406 | |
| 2407 | /* Sum: '<S43>/Sum' */ |
| 2408 | localB->Sum_o = localB->ZV_Kp1 - localB->DiscreteTimeIntegrator1; |
| 2409 | |
| 2410 | /* Gain: '<S43>/ZV_KN' */ |
| 2411 | localB->ZV_KN = localP->ZV_KN_Gain * localB->Sum_o; |
| 2412 | |
| 2413 | /* Gain: '<S43>/KD_KG' */ |
| 2414 | localB->KD_KG_h = localP->KD_KG_Gain_e * localB->ZV_KN; |
| 2415 | |
| 2416 | /* DataStoreRead: '<S43>/V_KP' */ |
| 2417 | localB->V_KP = *rtd_V_KP; |
| 2418 | |
| 2419 | /* Product: '<S43>/Product' */ |
| 2420 | localB->Product_i4 = localB->ZV_Kp * localB->V_KP; |
| 2421 | |
| 2422 | /* DataStoreRead: '<S43>/V_KI' */ |
| 2423 | localB->V_KI = *rtd_V_KI; |
| 2424 | |
| 2425 | /* Product: '<S43>/Product1' */ |
| 2426 | localB->Product1 = localB->DiscreteTimeIntegrator_d * localB->V_KI; |
| 2427 | |
| 2428 | /* Signum: '<S43>/Sign' */ |
| 2429 | u0 = localB->Switch2; |
| 2430 | if (u0 < 0.0) { |
| 2431 | localB->Sign = -1.0; |
| 2432 | } else if (u0 > 0.0) { |
| 2433 | localB->Sign = 1.0; |
| 2434 | } else { |
| 2435 | localB->Sign = u0; |
| 2436 | } |
| 2437 | |
| 2438 | /* End of Signum: '<S43>/Sign' */ |
| 2439 | |
| 2440 | /* Gain: '<S43>/ZV1_Kp1' */ |
| 2441 | localB->ZV1_Kp1 = localP->ZV1_Kp1_Gain * localB->Switch2; |
| 2442 | |
| 2443 | /* Gain: '<S43>/ZV1_Kp2' */ |
| 2444 | localB->ZV1_Kp2 = localP->ZV1_Kp2_Gain * localB->Sign; |
| 2445 | |
| 2446 | /* Sum: '<S43>/Sum2' */ |
| 2447 | localB->Sum2_f = (localB->Product1 + localB->Product_i4) + localB->KD_KG_h; |
| 2448 | |
| 2449 | /* Sum: '<S43>/Sum1' */ |
| 2450 | localB->Sum1_ne = (localB->ZV1_Kp1 + localB->ZV1_Kp2) + localB->Sum2_f; |
| 2451 | |
| 2452 | /* Saturate: '<S8>/XF_PID' */ |
| 2453 | u0 = localB->Sum1_ne; |
| 2454 | u1 = localP->XF_PID_LowerSat; |
| 2455 | u2 = localP->XF_PID_UpperSat; |
| 2456 | if (u0 > u2) { |
| 2457 | localB->XF_PID = u2; |
| 2458 | } else if (u0 < u1) { |
| 2459 | localB->XF_PID = u1; |
| 2460 | } else { |
| 2461 | localB->XF_PID = u0; |
| 2462 | } |
| 2463 | |
| 2464 | /* End of Saturate: '<S8>/XF_PID' */ |
| 2465 | |
| 2466 | /* Sum: '<S8>/Sum3' incorporates: |
| 2467 | * Constant: '<S8>/Constant' |
| 2468 | */ |
| 2469 | localB->Sum3 = localB->XF_PID + localP->Constant_Value; |
| 2470 | |
| 2471 | /* Saturate: '<S8>/XF_PWM' */ |
| 2472 | u0 = localB->Sum3; |
| 2473 | u1 = localP->XF_PWM_LowerSat; |
| 2474 | u2 = localP->XF_PWM_UpperSat; |
| 2475 | if (u0 > u2) { |
| 2476 | localB->XF_PWM = u2; |
| 2477 | } else if (u0 < u1) { |
| 2478 | localB->XF_PWM = u1; |
| 2479 | } else { |
| 2480 | localB->XF_PWM = u0; |
| 2481 | } |
| 2482 | |
| 2483 | /* End of Saturate: '<S8>/XF_PWM' */ |
| 2484 | |
| 2485 | /* DataTypeConversion: '<S8>/Data Type Conversion3' */ |
| 2486 | u0 = fmod(floor(localB->XF_PWM), 65536.0); |
| 2487 | localB->DataTypeConversion3 = (uint16_T)(u0 < 0.0 ? (int32_T)(uint16_T) |
| 2488 | -(int16_T)(uint16_T)-u0 : (int32_T)(uint16_T)u0); |
| 2489 | |
| 2490 | /* Gain: '<S8>/GHDG7' */ |
| 2491 | localB->GHDG7 = localP->GHDG7_Gain * localB->GHDG5; |
| 2492 | |
| 2493 | /* Gain: '<S8>/GHDG8' */ |
| 2494 | localB->GHDG8 = localP->GHDG8_Gain * localB->GHDG7; |
| 2495 | |
| 2496 | /* Fcn: '<S49>/Fcn7' */ |
| 2497 | localB->Fcn7 = localB->GHDG8 + 0.2655; |
| 2498 | |
| 2499 | /* Fcn: '<S49>/Cl1' */ |
| 2500 | localB->Cl1 = (0.090490250000000008 - localB->Fcn7 * localB->Fcn7) / |
| 2501 | 0.020000000000000004; |
| 2502 | |
| 2503 | /* Fcn: '<S49>/Fcn' */ |
| 2504 | u0 = (7.0490249999999985 - localB->Cl1 * localB->Cl1) + 1.0; |
| 2505 | if (u0 < 0.0) { |
| 2506 | u0 = -sqrt(-u0); |
| 2507 | } else { |
| 2508 | u0 = sqrt(u0); |
| 2509 | } |
| 2510 | |
| 2511 | localB->Fcn_l = (2.655 - u0) / (localB->Cl1 + 1.0); |
| 2512 | |
| 2513 | /* End of Fcn: '<S49>/Fcn' */ |
| 2514 | |
| 2515 | /* Fcn: '<S49>/Fcn4' */ |
| 2516 | localB->Fcn4_g = 2.0 * atan(localB->Fcn_l); |
| 2517 | |
| 2518 | /* Gain: '<S8>/GHDG9' */ |
| 2519 | localB->GHDG9 = localP->GHDG9_Gain * localB->Fcn4_g; |
| 2520 | |
| 2521 | /* Gain: '<S8>/fk_dg3' */ |
| 2522 | localB->fk_dg3 = localP->fk_dg3_Gain * localB->GHDG9; |
| 2523 | |
| 2524 | /* Gain: '<S8>/KP_JD' */ |
| 2525 | localB->KP_JD = localP->KP_JD_Gain * localB->fk_dg3; |
| 2526 | |
| 2527 | /* Sum: '<S8>/Sum1' */ |
| 2528 | localB->Sum1_h = localB->Sum4 - localB->fk_dg3; |
| 2529 | |
| 2530 | /* Gain: '<S8>/KP_e' */ |
| 2531 | localB->KP_e = localP->KP_e_Gain * localB->Sum1_h; |
| 2532 | |
| 2533 | /* If: '<S8>/If' */ |
| 2534 | if (rtu_Slect_port == 5) { |
| 2535 | /* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem' incorporates: |
| 2536 | * ActionPort: '<S44>/Action Port' |
| 2537 | */ |
| 2538 | /* DataStoreWrite: '<S44>/Data Store Write' */ |
| 2539 | *rtd_JD_HYDG_HC = rtu_JD_In; |
| 2540 | |
| 2541 | /* DataStoreWrite: '<S44>/Data Store Write1' */ |
| 2542 | *rtd_JD_HYDG = rtu_JD_In; |
| 2543 | |
| 2544 | /* End of Outputs for SubSystem: '<S8>/If Action Subsystem' */ |
| 2545 | } else if (rtu_Slect_port == 4) { |
| 2546 | /* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem1' incorporates: |
| 2547 | * ActionPort: '<S45>/Action Port' |
| 2548 | */ |
| 2549 | /* DataStoreRead: '<S45>/Data Store Read' */ |
| 2550 | localB->DataStoreRead_a = *rtd_JD_HYDG_HC; |
| 2551 | |
| 2552 | /* DataStoreWrite: '<S45>/Data Store Write1' */ |
| 2553 | *rtd_JD_HYDG = localB->DataStoreRead_a; |
| 2554 | |
| 2555 | /* End of Outputs for SubSystem: '<S8>/If Action Subsystem1' */ |
| 2556 | } else { |
| 2557 | /* Outputs for IfAction SubSystem: '<S8>/If Action Subsystem2' incorporates: |
| 2558 | * ActionPort: '<S46>/Action Port' |
| 2559 | */ |
| 2560 | /* DataStoreWrite: '<S46>/Data Store Write' */ |
| 2561 | *rtd_JD_HYDG_HC = rtu_JD_In; |
| 2562 | |
| 2563 | /* DataStoreWrite: '<S46>/Data Store Write1' */ |
| 2564 | *rtd_JD_HYDG = rtu_JD_In; |
| 2565 | |
| 2566 | /* End of Outputs for SubSystem: '<S8>/If Action Subsystem2' */ |
| 2567 | } |
| 2568 | |
| 2569 | /* End of If: '<S8>/If' */ |
| 2570 | |
| 2571 | /* Update for DiscreteIntegrator: '<S42>/Discrete-Time Integrator' */ |
| 2572 | localDW->DiscreteTimeIntegrator_DSTATE += |
| 2573 | localP->DiscreteTimeIntegrator_gainval * (real_T) |
| 2574 | localDW->Motor_HYDG1_ELAPS_T[0] * localB->ZP_KN; |
| 2575 | if (localDW->DiscreteTimeIntegrator_DSTATE >= |
| 2576 | localP->DiscreteTimeIntegrator_UpperSat) { |
| 2577 | localDW->DiscreteTimeIntegrator_DSTATE = |
| 2578 | localP->DiscreteTimeIntegrator_UpperSat; |
| 2579 | } else { |
| 2580 | if (localDW->DiscreteTimeIntegrator_DSTATE <= |
| 2581 | localP->DiscreteTimeIntegrator_LowerSat) { |
| 2582 | localDW->DiscreteTimeIntegrator_DSTATE = |
| 2583 | localP->DiscreteTimeIntegrator_LowerSat; |
| 2584 | } |
| 2585 | } |
| 2586 | |
| 2587 | /* End of Update for DiscreteIntegrator: '<S42>/Discrete-Time Integrator' */ |
| 2588 | |
| 2589 | /* Update for DiscreteIntegrator: '<S43>/Discrete-Time Integrator' */ |
| 2590 | localDW->DiscreteTimeIntegrator_DSTATE_a += |
| 2591 | localP->DiscreteTimeIntegrator_gainva_p * (real_T) |
| 2592 | localDW->Motor_HYDG1_ELAPS_T[0] * localB->ZV_Kp; |
| 2593 | if (localDW->DiscreteTimeIntegrator_DSTATE_a >= |
| 2594 | localP->DiscreteTimeIntegrator_UpperS_j) { |
| 2595 | localDW->DiscreteTimeIntegrator_DSTATE_a = |
| 2596 | localP->DiscreteTimeIntegrator_UpperS_j; |
| 2597 | } else { |
| 2598 | if (localDW->DiscreteTimeIntegrator_DSTATE_a <= |
| 2599 | localP->DiscreteTimeIntegrator_LowerS_o) { |
| 2600 | localDW->DiscreteTimeIntegrator_DSTATE_a = |
| 2601 | localP->DiscreteTimeIntegrator_LowerS_o; |
| 2602 | } |
| 2603 | } |
| 2604 | |
| 2605 | localDW->DiscreteTimeIntegrator_PrevRese = (int8_T)(localB->KG_clc > 0); |
| 2606 | |
| 2607 | /* End of Update for DiscreteIntegrator: '<S43>/Discrete-Time Integrator' */ |
| 2608 | |
| 2609 | /* Update for DiscreteIntegrator: '<S43>/Discrete-Time Integrator1' */ |
| 2610 | localDW->DiscreteTimeIntegrator1_DSTATE += |
| 2611 | localP->DiscreteTimeIntegrator1_gainval * (real_T) |
| 2612 | localDW->Motor_HYDG1_ELAPS_T[0] * localB->ZV_KN; |
| 2613 | if (localDW->DiscreteTimeIntegrator1_DSTATE >= |
| 2614 | localP->DiscreteTimeIntegrator1_UpperSa) { |
| 2615 | localDW->DiscreteTimeIntegrator1_DSTATE = |
| 2616 | localP->DiscreteTimeIntegrator1_UpperSa; |
| 2617 | } else { |
| 2618 | if (localDW->DiscreteTimeIntegrator1_DSTATE <= |
| 2619 | localP->DiscreteTimeIntegrator1_LowerSa) { |
| 2620 | localDW->DiscreteTimeIntegrator1_DSTATE = |
| 2621 | localP->DiscreteTimeIntegrator1_LowerSa; |
| 2622 | } |
| 2623 | } |
| 2624 | |
| 2625 | /* End of Update for DiscreteIntegrator: '<S43>/Discrete-Time Integrator1' */ |
| 2626 | |
| 2627 | /* Update for UnitDelay: '<S8>/Unit Delay' */ |
| 2628 | localDW->UnitDelay_DSTATE = localB->fk_dg1; |
| 2629 | } |
| 2630 | |
| 2631 | /* Output and update for function-call system: '<S1>/Showing' */ |
| 2632 | void motor_Showing(RT_MODEL_motor * const motor_M, real_T rtu_Showing_Angle, |
| 2633 | real_T rtu_Showing_T, rtB_Showing_motor *localB, |
| 2634 | rtP_Showing_motor *localP, real_T *rtd_Angle_S) |
| 2635 | { |
| 2636 | /* MultiPortSwitch: '<S12>/Multiport Switch' */ |
| 2637 | switch ((int32_T)rtu_Showing_T) { |
| 2638 | case 1: |
| 2639 | /* Sin: '<S12>/Sine Wave1' */ |
| 2640 | localB->SineWave1 = sin(localP->SineWave1_Freq * |
| 2641 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2642 | 0.002) + localP->SineWave1_Phase) * localP->SineWave1_Amp + |
| 2643 | localP->SineWave1_Bias; |
| 2644 | localB->MultiportSwitch = localB->SineWave1; |
| 2645 | break; |
| 2646 | |
| 2647 | case 2: |
| 2648 | /* Sin: '<S12>/Sine Wave2' */ |
| 2649 | localB->SineWave2 = sin(localP->SineWave2_Freq * |
| 2650 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2651 | 0.002) + localP->SineWave2_Phase) * localP->SineWave2_Amp + |
| 2652 | localP->SineWave2_Bias; |
| 2653 | localB->MultiportSwitch = localB->SineWave2; |
| 2654 | break; |
| 2655 | |
| 2656 | case 3: |
| 2657 | /* Sin: '<S12>/Sine Wave3' */ |
| 2658 | localB->SineWave3 = sin(localP->SineWave3_Freq * |
| 2659 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2660 | 0.002) + localP->SineWave3_Phase) * localP->SineWave3_Amp + |
| 2661 | localP->SineWave3_Bias; |
| 2662 | localB->MultiportSwitch = localB->SineWave3; |
| 2663 | break; |
| 2664 | |
| 2665 | case 4: |
| 2666 | /* Sin: '<S12>/Sine Wave4' */ |
| 2667 | localB->SineWave4 = sin(localP->SineWave4_Freq * |
| 2668 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2669 | 0.002) + localP->SineWave4_Phase) * localP->SineWave4_Amp + |
| 2670 | localP->SineWave4_Bias; |
| 2671 | localB->MultiportSwitch = localB->SineWave4; |
| 2672 | break; |
| 2673 | |
| 2674 | case 5: |
| 2675 | /* Sin: '<S12>/Sine Wave5' */ |
| 2676 | localB->SineWave5 = sin(localP->SineWave5_Freq * |
| 2677 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2678 | 0.002) + localP->SineWave5_Phase) * localP->SineWave5_Amp + |
| 2679 | localP->SineWave5_Bias; |
| 2680 | localB->MultiportSwitch = localB->SineWave5; |
| 2681 | break; |
| 2682 | |
| 2683 | case 6: |
| 2684 | /* Sin: '<S12>/Sine Wave6' */ |
| 2685 | localB->SineWave6 = sin(localP->SineWave6_Freq * |
| 2686 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2687 | 0.002) + localP->SineWave6_Phase) * localP->SineWave6_Amp + |
| 2688 | localP->SineWave6_Bias; |
| 2689 | localB->MultiportSwitch = localB->SineWave6; |
| 2690 | break; |
| 2691 | |
| 2692 | case 7: |
| 2693 | /* Sin: '<S12>/Sine Wave7' */ |
| 2694 | localB->SineWave7 = sin(localP->SineWave7_Freq * |
| 2695 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2696 | 0.002) + localP->SineWave7_Phase) * localP->SineWave7_Amp + |
| 2697 | localP->SineWave7_Bias; |
| 2698 | localB->MultiportSwitch = localB->SineWave7; |
| 2699 | break; |
| 2700 | |
| 2701 | default: |
| 2702 | /* Sin: '<S12>/Sine Wave8' */ |
| 2703 | localB->SineWave8 = sin(localP->SineWave8_Freq * |
| 2704 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 2705 | 0.002) + localP->SineWave8_Phase) * localP->SineWave8_Amp + |
| 2706 | localP->SineWave8_Bias; |
| 2707 | localB->MultiportSwitch = localB->SineWave8; |
| 2708 | break; |
| 2709 | } |
| 2710 | |
| 2711 | /* End of MultiPortSwitch: '<S12>/Multiport Switch' */ |
| 2712 | |
| 2713 | /* DataStoreWrite: '<S12>/Data Store Write' */ |
| 2714 | *rtd_Angle_S = localB->MultiportSwitch; |
| 2715 | |
| 2716 | /* DataStoreRead: '<S12>/Data Store Read' */ |
| 2717 | localB->DataStoreRead = *rtd_Angle_S; |
| 2718 | |
| 2719 | /* Product: '<S12>/Product' */ |
| 2720 | localB->Product = localB->DataStoreRead * rtu_Showing_Angle; |
| 2721 | |
| 2722 | /* DataTypeConversion: '<S12>/Data Type Conversion1' */ |
| 2723 | localB->DataTypeConversion1 = localB->Product; |
| 2724 | } |
| 2725 | |
| 2726 | /* Output and update for function-call system: '<S1>/Angle_Calculation_HY' */ |
| 2727 | void motor_Angle_Calculation_HY(int32_T rtu_Encode_Pos, |
| 2728 | rtB_Angle_Calculation_HY_motor *localB, rtP_Angle_Calculation_HY_motor *localP) |
| 2729 | { |
| 2730 | real_T tmp; |
| 2731 | |
| 2732 | /* DataTypeConversion: '<S3>/Data Type Conversion1' */ |
| 2733 | localB->DataTypeConversion1 = rtu_Encode_Pos; |
| 2734 | |
| 2735 | /* Gain: '<S3>/GHDG5' */ |
| 2736 | localB->GHDG5 = localP->GHDG5_Gain * localB->DataTypeConversion1; |
| 2737 | |
| 2738 | /* Gain: '<S21>/GHDG7' */ |
| 2739 | localB->GHDG7 = localP->GHDG7_Gain * localB->GHDG5; |
| 2740 | |
| 2741 | /* Gain: '<S21>/GHDG8' */ |
| 2742 | localB->GHDG8 = localP->GHDG8_Gain * localB->GHDG7; |
| 2743 | |
| 2744 | /* Fcn: '<S22>/Fcn7' */ |
| 2745 | localB->Fcn7 = localB->GHDG8 + 0.2655; |
| 2746 | |
| 2747 | /* Fcn: '<S22>/Cl1' */ |
| 2748 | localB->Cl1 = (0.090490250000000008 - localB->Fcn7 * localB->Fcn7) / |
| 2749 | 0.020000000000000004; |
| 2750 | |
| 2751 | /* Fcn: '<S22>/Fcn' */ |
| 2752 | tmp = (7.0490249999999985 - localB->Cl1 * localB->Cl1) + 1.0; |
| 2753 | if (tmp < 0.0) { |
| 2754 | tmp = -sqrt(-tmp); |
| 2755 | } else { |
| 2756 | tmp = sqrt(tmp); |
| 2757 | } |
| 2758 | |
| 2759 | localB->Fcn = (2.655 - tmp) / (localB->Cl1 + 1.0); |
| 2760 | |
| 2761 | /* End of Fcn: '<S22>/Fcn' */ |
| 2762 | |
| 2763 | /* Fcn: '<S22>/Fcn4' */ |
| 2764 | localB->Fcn4 = 2.0 * atan(localB->Fcn); |
| 2765 | |
| 2766 | /* Gain: '<S21>/GHDG9' */ |
| 2767 | localB->GHDG9 = localP->GHDG9_Gain * localB->Fcn4; |
| 2768 | } |
| 2769 | |
| 2770 | /* Initial conditions for function-call system: '<S1>/Waveform_Build' */ |
| 2771 | void motor_Waveform_Build_Init(RT_MODEL_motor * const motor_M, |
| 2772 | rtDW_Waveform_Build_motor *localDW, rtP_Waveform_Build_motor *localP) |
| 2773 | { |
| 2774 | uint32_T prevT_idx_0; |
| 2775 | uint32_T prevT_idx_1; |
| 2776 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 2777 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 2778 | localDW->Waveform_Build_PREV_T[0] = prevT_idx_0; |
| 2779 | localDW->Waveform_Build_PREV_T[1] = prevT_idx_1; |
| 2780 | |
| 2781 | /* InitializeConditions for Delay: '<S14>/Delay5' */ |
| 2782 | localDW->Delay5_DSTATE = localP->Delay5_InitialCondition; |
| 2783 | |
| 2784 | /* InitializeConditions for Delay: '<S14>/Delay7' */ |
| 2785 | localDW->Delay7_DSTATE = localP->Delay7_InitialCondition; |
| 2786 | |
| 2787 | /* InitializeConditions for Delay: '<S14>/Delay6' */ |
| 2788 | localDW->Delay6_DSTATE = localP->Delay6_InitialCondition; |
| 2789 | |
| 2790 | /* InitializeConditions for UnitDelay: '<S71>/Delay Input2' */ |
| 2791 | localDW->DelayInput2_DSTATE = localP->DelayInput2_InitialCondition; |
| 2792 | } |
| 2793 | |
| 2794 | /* Start for function-call system: '<S1>/Waveform_Build' */ |
| 2795 | void motor_Waveform_Build_Start(rtDW_Waveform_Build_motor *localDW) |
| 2796 | { |
| 2797 | /* Start for If: '<S14>/If' */ |
| 2798 | localDW->If_ActiveSubsystem = -1; |
| 2799 | } |
| 2800 | |
| 2801 | /* Output and update for function-call system: '<S1>/Waveform_Build' */ |
| 2802 | void motor_Waveform_Build(RT_MODEL_motor * const motor_M, int32_T rtu_JD_In, |
| 2803 | rtB_Waveform_Build_motor *localB, rtDW_Waveform_Build_motor *localDW, |
| 2804 | rtP_Waveform_Build_motor *localP, real_T *rtd_T, real_T *rtd_T_Count, real_T |
| 2805 | *rtd_Temp1, real_T *rtd_Temp2) |
| 2806 | { |
| 2807 | uint32_T elapseT_H; |
| 2808 | int8_T rtAction; |
| 2809 | real_T elapseTime; |
| 2810 | uint32_T prevT_idx_0; |
| 2811 | uint32_T elapseTime_idx_0; |
| 2812 | uint32_T prevT_idx_1; |
| 2813 | real_T u1; |
| 2814 | real_T u2; |
| 2815 | prevT_idx_0 = localDW->Waveform_Build_PREV_T[0]; |
| 2816 | prevT_idx_1 = localDW->Waveform_Build_PREV_T[1]; |
| 2817 | elapseTime_idx_0 = motor_M->Timing.clockTick0 - prevT_idx_0; |
| 2818 | elapseT_H = motor_M->Timing.clockTickH0 - prevT_idx_1; |
| 2819 | if (prevT_idx_0 > motor_M->Timing.clockTick0) { |
| 2820 | elapseT_H--; |
| 2821 | } |
| 2822 | |
| 2823 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 2824 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 2825 | localDW->Waveform_Build_ELAPS_T[0] = elapseTime_idx_0; |
| 2826 | localDW->Waveform_Build_PREV_T[0] = prevT_idx_0; |
| 2827 | localDW->Waveform_Build_ELAPS_T[1] = elapseT_H; |
| 2828 | localDW->Waveform_Build_PREV_T[1] = prevT_idx_1; |
| 2829 | |
| 2830 | /* Delay: '<S14>/Delay5' */ |
| 2831 | localB->Delay5 = localDW->Delay5_DSTATE; |
| 2832 | |
| 2833 | /* DataTypeConversion: '<S14>/Data Type Conversion4' */ |
| 2834 | localB->DataTypeConversion4 = rtu_JD_In; |
| 2835 | |
| 2836 | /* Gain: '<S14>/Gain1' */ |
| 2837 | localB->Gain1 = localP->Gain1_Gain * localB->DataTypeConversion4; |
| 2838 | |
| 2839 | /* Saturate: '<S14>/XF_XHZY' */ |
| 2840 | elapseTime = localB->Gain1; |
| 2841 | u1 = localP->XF_XHZY_LowerSat; |
| 2842 | u2 = localP->XF_XHZY_UpperSat; |
| 2843 | if (elapseTime > u2) { |
| 2844 | localB->XF_XHZY = u2; |
| 2845 | } else if (elapseTime < u1) { |
| 2846 | localB->XF_XHZY = u1; |
| 2847 | } else { |
| 2848 | localB->XF_XHZY = elapseTime; |
| 2849 | } |
| 2850 | |
| 2851 | /* End of Saturate: '<S14>/XF_XHZY' */ |
| 2852 | |
| 2853 | /* Sum: '<S14>/Add16' */ |
| 2854 | localB->Add16 = localB->XF_XHZY - localB->Delay5; |
| 2855 | |
| 2856 | /* If: '<S14>/If' incorporates: |
| 2857 | * Inport: '<S67>/In1' |
| 2858 | */ |
| 2859 | rtAction = (int8_T)!(localB->Add16 != 0.0); |
| 2860 | localDW->If_ActiveSubsystem = rtAction; |
| 2861 | switch (rtAction) { |
| 2862 | case 0: |
| 2863 | /* Outputs for IfAction SubSystem: '<S14>/If Action Subsystem1' incorporates: |
| 2864 | * ActionPort: '<S67>/Action Port' |
| 2865 | */ |
| 2866 | /* DataStoreWrite: '<S67>/Data Store Write2' */ |
| 2867 | *rtd_Temp1 = localB->Delay5; |
| 2868 | |
| 2869 | /* DataStoreRead: '<S67>/Data Store Read5' */ |
| 2870 | localB->DataStoreRead5_p = *rtd_T_Count; |
| 2871 | |
| 2872 | /* MATLAB Function: '<S67>/MATLAB Function' */ |
| 2873 | /* MATLAB Function 'Chart/Waveform_Build/If Action Subsystem1/MATLAB Function': '<S73>:1' */ |
| 2874 | /* '<S73>:1:4' */ |
| 2875 | localB->y1 = localB->DataStoreRead5_p + 1.0; |
| 2876 | |
| 2877 | /* '<S73>:1:5' */ |
| 2878 | localB->y2 = 0.0; |
| 2879 | |
| 2880 | /* DataStoreWrite: '<S67>/Data Store Write1' */ |
| 2881 | *rtd_T_Count = localB->y2; |
| 2882 | |
| 2883 | /* DataStoreWrite: '<S67>/Data Store Write3' */ |
| 2884 | *rtd_T = localB->y1; |
| 2885 | localB->In1_m = localB->Add16; |
| 2886 | |
| 2887 | /* End of Outputs for SubSystem: '<S14>/If Action Subsystem1' */ |
| 2888 | break; |
| 2889 | |
| 2890 | case 1: |
| 2891 | /* Outputs for IfAction SubSystem: '<S14>/If Action Subsystem3' incorporates: |
| 2892 | * ActionPort: '<S69>/Action Port' |
| 2893 | */ |
| 2894 | /* DataStoreRead: '<S69>/Data Store Read5' */ |
| 2895 | localB->DataStoreRead5_m = *rtd_T_Count; |
| 2896 | |
| 2897 | /* Sum: '<S69>/Add20' incorporates: |
| 2898 | * Constant: '<S69>/Constant3' |
| 2899 | */ |
| 2900 | localB->Add20_j = localB->DataStoreRead5_m + localP->Constant3_Value; |
| 2901 | |
| 2902 | /* Saturate: '<S69>/Saturation' */ |
| 2903 | elapseTime = localB->Add20_j; |
| 2904 | u1 = localP->Saturation_LowerSat; |
| 2905 | u2 = localP->Saturation_UpperSat; |
| 2906 | if (elapseTime > u2) { |
| 2907 | localB->Saturation = u2; |
| 2908 | } else if (elapseTime < u1) { |
| 2909 | localB->Saturation = u1; |
| 2910 | } else { |
| 2911 | localB->Saturation = elapseTime; |
| 2912 | } |
| 2913 | |
| 2914 | /* End of Saturate: '<S69>/Saturation' */ |
| 2915 | |
| 2916 | /* DataStoreWrite: '<S69>/Data Store Write1' */ |
| 2917 | *rtd_T_Count = localB->Saturation; |
| 2918 | break; |
| 2919 | } |
| 2920 | |
| 2921 | /* End of If: '<S14>/If' */ |
| 2922 | |
| 2923 | /* Delay: '<S14>/Delay7' */ |
| 2924 | localB->Delay7 = localDW->Delay7_DSTATE; |
| 2925 | |
| 2926 | /* DataStoreRead: '<S14>/Data Store Read1' */ |
| 2927 | localB->DataStoreRead1 = *rtd_T_Count; |
| 2928 | |
| 2929 | /* Delay: '<S14>/Delay6' */ |
| 2930 | localB->Delay6 = localDW->Delay6_DSTATE; |
| 2931 | |
| 2932 | /* DataStoreRead: '<S14>/Data Store Read4' */ |
| 2933 | localB->DataStoreRead4 = *rtd_Temp1; |
| 2934 | |
| 2935 | /* Sum: '<S14>/Add21' */ |
| 2936 | localB->Add21 = localB->DataStoreRead4 - localB->Delay6; |
| 2937 | |
| 2938 | /* If: '<S14>/If1' incorporates: |
| 2939 | * Inport: '<S68>/In1' |
| 2940 | */ |
| 2941 | if (localB->Add21 != 0.0) { |
| 2942 | /* Outputs for IfAction SubSystem: '<S14>/If Action Subsystem2' incorporates: |
| 2943 | * ActionPort: '<S68>/Action Port' |
| 2944 | */ |
| 2945 | /* DataStoreWrite: '<S68>/Data Store Write2' */ |
| 2946 | *rtd_Temp2 = localB->Delay6; |
| 2947 | localB->In1_n = localB->Add21; |
| 2948 | |
| 2949 | /* End of Outputs for SubSystem: '<S14>/If Action Subsystem2' */ |
| 2950 | } |
| 2951 | |
| 2952 | /* End of If: '<S14>/If1' */ |
| 2953 | |
| 2954 | /* Switch: '<S14>/Switch' */ |
| 2955 | if (localB->DataStoreRead1 > localP->Switch_Threshold) { |
| 2956 | localB->Switch = localB->XF_XHZY; |
| 2957 | } else { |
| 2958 | /* Gain: '<S14>/Gain7' */ |
| 2959 | localB->Gain7 = localP->Gain7_Gain * localB->In1_m; |
| 2960 | |
| 2961 | /* Sum: '<S14>/Add12' */ |
| 2962 | localB->Add12 = localB->In1_m - localB->In1_n; |
| 2963 | |
| 2964 | /* Sum: '<S14>/Add19' */ |
| 2965 | localB->Add19 = (localB->Add12 + localB->Gain7) + localB->XF_XHZY; |
| 2966 | localB->Switch = localB->Add19; |
| 2967 | } |
| 2968 | |
| 2969 | /* End of Switch: '<S14>/Switch' */ |
| 2970 | |
| 2971 | /* Sum: '<S14>/Add20' */ |
| 2972 | localB->Add20 = localB->Switch - localB->Delay7; |
| 2973 | |
| 2974 | /* If: '<S14>/If2' incorporates: |
| 2975 | * Inport: '<S70>/In1' |
| 2976 | */ |
| 2977 | if (localB->Add20 != 0.0) { |
| 2978 | /* Outputs for IfAction SubSystem: '<S14>/If Action Subsystem4' incorporates: |
| 2979 | * ActionPort: '<S70>/Action Port' |
| 2980 | */ |
| 2981 | localB->In1 = localB->Add20; |
| 2982 | |
| 2983 | /* End of Outputs for SubSystem: '<S14>/If Action Subsystem4' */ |
| 2984 | } |
| 2985 | |
| 2986 | /* End of If: '<S14>/If2' */ |
| 2987 | |
| 2988 | /* Abs: '<S14>/Abs2' */ |
| 2989 | localB->Abs2 = fabs(localB->In1); |
| 2990 | |
| 2991 | /* DataStoreRead: '<S14>/Data Store Read5' */ |
| 2992 | localB->DataStoreRead5 = *rtd_T; |
| 2993 | |
| 2994 | /* Product: '<S14>/Divide1' incorporates: |
| 2995 | * Constant: '<S14>/Constant2' |
| 2996 | */ |
| 2997 | localB->Divide1 = localB->DataStoreRead5 / localP->Constant2_Value; |
| 2998 | |
| 2999 | /* Saturate: '<S14>/Saturation2' */ |
| 3000 | elapseTime = localB->Divide1; |
| 3001 | u1 = localP->Saturation2_LowerSat; |
| 3002 | u2 = localP->Saturation2_UpperSat; |
| 3003 | if (elapseTime > u2) { |
| 3004 | localB->Saturation2 = u2; |
| 3005 | } else if (elapseTime < u1) { |
| 3006 | localB->Saturation2 = u1; |
| 3007 | } else { |
| 3008 | localB->Saturation2 = elapseTime; |
| 3009 | } |
| 3010 | |
| 3011 | /* End of Saturate: '<S14>/Saturation2' */ |
| 3012 | |
| 3013 | /* Sum: '<S14>/Add13' */ |
| 3014 | localB->Add13 = localB->XF_XHZY - localB->Saturation2; |
| 3015 | |
| 3016 | /* Sum: '<S14>/Add15' */ |
| 3017 | localB->Add15 = localB->Saturation2 + localB->XF_XHZY; |
| 3018 | |
| 3019 | /* Product: '<S14>/Divide' incorporates: |
| 3020 | * Constant: '<S14>/Constant3' |
| 3021 | */ |
| 3022 | localB->Divide = localP->Constant3_Value_a / localB->DataStoreRead5; |
| 3023 | |
| 3024 | /* Product: '<S14>/Product1' */ |
| 3025 | localB->Product1 = localB->Divide * localB->Abs2; |
| 3026 | |
| 3027 | /* Saturate: '<S14>/Saturation1' */ |
| 3028 | elapseTime = localB->Product1; |
| 3029 | u1 = localP->Saturation1_LowerSat; |
| 3030 | u2 = localP->Saturation1_UpperSat; |
| 3031 | if (elapseTime > u2) { |
| 3032 | localB->Saturation1 = u2; |
| 3033 | } else if (elapseTime < u1) { |
| 3034 | localB->Saturation1 = u1; |
| 3035 | } else { |
| 3036 | localB->Saturation1 = elapseTime; |
| 3037 | } |
| 3038 | |
| 3039 | /* End of Saturate: '<S14>/Saturation1' */ |
| 3040 | |
| 3041 | /* SampleTimeMath: '<S71>/sample time' |
| 3042 | * |
| 3043 | * About '<S71>/sample time': |
| 3044 | * y = K where K = ( w * Ts ) |
| 3045 | */ |
| 3046 | elapseTime = ((real_T)localDW->Waveform_Build_ELAPS_T[0] * 0.002 + (real_T) |
| 3047 | localDW->Waveform_Build_ELAPS_T[1] * 8.589934592E+6) * |
| 3048 | localP->sampletime_WtEt; |
| 3049 | localB->sampletime = elapseTime; |
| 3050 | |
| 3051 | /* Product: '<S71>/delta rise limit' */ |
| 3052 | localB->deltariselimit = localB->Saturation1 * localB->sampletime; |
| 3053 | |
| 3054 | /* UnitDelay: '<S71>/Delay Input2' */ |
| 3055 | localB->Yk1 = localDW->DelayInput2_DSTATE; |
| 3056 | |
| 3057 | /* Sum: '<S71>/Difference Inputs1' */ |
| 3058 | localB->UkYk1 = localB->Switch - localB->Yk1; |
| 3059 | |
| 3060 | /* RelationalOperator: '<S74>/LowerRelop1' */ |
| 3061 | localB->LowerRelop1 = (localB->UkYk1 > localB->deltariselimit); |
| 3062 | |
| 3063 | /* Gain: '<S14>/Gain3' */ |
| 3064 | localB->Gain3 = localP->Gain3_Gain * localB->Saturation1; |
| 3065 | |
| 3066 | /* Product: '<S71>/delta fall limit' */ |
| 3067 | localB->deltafalllimit = localB->Gain3 * localB->sampletime; |
| 3068 | |
| 3069 | /* RelationalOperator: '<S74>/UpperRelop' */ |
| 3070 | localB->UpperRelop = (localB->UkYk1 < localB->deltafalllimit); |
| 3071 | |
| 3072 | /* Switch: '<S74>/Switch' */ |
| 3073 | if (localB->UpperRelop) { |
| 3074 | localB->Switch_c = localB->deltafalllimit; |
| 3075 | } else { |
| 3076 | localB->Switch_c = localB->UkYk1; |
| 3077 | } |
| 3078 | |
| 3079 | /* End of Switch: '<S74>/Switch' */ |
| 3080 | |
| 3081 | /* Switch: '<S74>/Switch2' */ |
| 3082 | if (localB->LowerRelop1) { |
| 3083 | localB->Switch2 = localB->deltariselimit; |
| 3084 | } else { |
| 3085 | localB->Switch2 = localB->Switch_c; |
| 3086 | } |
| 3087 | |
| 3088 | /* End of Switch: '<S74>/Switch2' */ |
| 3089 | |
| 3090 | /* Sum: '<S71>/Difference Inputs2' */ |
| 3091 | localB->DifferenceInputs2 = localB->Switch2 + localB->Yk1; |
| 3092 | |
| 3093 | /* RelationalOperator: '<S72>/LowerRelop1' */ |
| 3094 | localB->LowerRelop1_g = (localB->DifferenceInputs2 > localB->Add15); |
| 3095 | |
| 3096 | /* RelationalOperator: '<S72>/UpperRelop' */ |
| 3097 | localB->UpperRelop_p = (localB->DifferenceInputs2 < localB->Add13); |
| 3098 | |
| 3099 | /* Switch: '<S72>/Switch' */ |
| 3100 | if (localB->UpperRelop_p) { |
| 3101 | localB->Switch_e = localB->Add13; |
| 3102 | } else { |
| 3103 | localB->Switch_e = localB->DifferenceInputs2; |
| 3104 | } |
| 3105 | |
| 3106 | /* End of Switch: '<S72>/Switch' */ |
| 3107 | |
| 3108 | /* Switch: '<S72>/Switch2' */ |
| 3109 | if (localB->LowerRelop1_g) { |
| 3110 | localB->Switch2_p = localB->Add15; |
| 3111 | } else { |
| 3112 | localB->Switch2_p = localB->Switch_e; |
| 3113 | } |
| 3114 | |
| 3115 | /* End of Switch: '<S72>/Switch2' */ |
| 3116 | |
| 3117 | /* Gain: '<S14>/Gain2' */ |
| 3118 | elapseTime = fmod(floor(localP->Gain2_Gain * localB->Switch2_p), |
| 3119 | 4.294967296E+9); |
| 3120 | localB->Gain2 = elapseTime < 0.0 ? -(int32_T)(uint32_T)-elapseTime : (int32_T) |
| 3121 | (uint32_T)elapseTime; |
| 3122 | |
| 3123 | /* Update for Delay: '<S14>/Delay5' */ |
| 3124 | localDW->Delay5_DSTATE = localB->XF_XHZY; |
| 3125 | |
| 3126 | /* Update for Delay: '<S14>/Delay7' */ |
| 3127 | localDW->Delay7_DSTATE = localB->Switch; |
| 3128 | |
| 3129 | /* Update for Delay: '<S14>/Delay6' */ |
| 3130 | localDW->Delay6_DSTATE = localB->DataStoreRead4; |
| 3131 | |
| 3132 | /* Update for UnitDelay: '<S71>/Delay Input2' */ |
| 3133 | localDW->DelayInput2_DSTATE = localB->DifferenceInputs2; |
| 3134 | } |
| 3135 | |
| 3136 | /* Output and update for function-call system: '<S1>/Showing_XHHY' */ |
| 3137 | void motor_Showing_XHHY(RT_MODEL_motor * const motor_M, real_T rtu_Showing_Angle, |
| 3138 | real_T rtu_Showing_T, rtB_Showing_XHHY_motor *localB, rtP_Showing_XHHY_motor |
| 3139 | *localP, real_T *rtd_Angle_S) |
| 3140 | { |
| 3141 | /* MultiPortSwitch: '<S13>/Multiport Switch' */ |
| 3142 | switch ((int32_T)rtu_Showing_T) { |
| 3143 | case 1: |
| 3144 | /* Sin: '<S13>/Sine Wave1' */ |
| 3145 | localB->SineWave1 = sin(localP->SineWave1_Freq * |
| 3146 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3147 | 0.002) + localP->SineWave1_Phase) * localP->SineWave1_Amp + |
| 3148 | localP->SineWave1_Bias; |
| 3149 | localB->MultiportSwitch = localB->SineWave1; |
| 3150 | break; |
| 3151 | |
| 3152 | case 2: |
| 3153 | /* Sin: '<S13>/Sine Wave2' */ |
| 3154 | localB->SineWave2 = sin(localP->SineWave2_Freq * |
| 3155 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3156 | 0.002) + localP->SineWave2_Phase) * localP->SineWave2_Amp + |
| 3157 | localP->SineWave2_Bias; |
| 3158 | localB->MultiportSwitch = localB->SineWave2; |
| 3159 | break; |
| 3160 | |
| 3161 | case 3: |
| 3162 | /* Sin: '<S13>/Sine Wave3' */ |
| 3163 | localB->SineWave3 = sin(localP->SineWave3_Freq * |
| 3164 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3165 | 0.002) + localP->SineWave3_Phase) * localP->SineWave3_Amp + |
| 3166 | localP->SineWave3_Bias; |
| 3167 | localB->MultiportSwitch = localB->SineWave3; |
| 3168 | break; |
| 3169 | |
| 3170 | case 4: |
| 3171 | /* Sin: '<S13>/Sine Wave4' */ |
| 3172 | localB->SineWave4 = sin(localP->SineWave4_Freq * |
| 3173 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3174 | 0.002) + localP->SineWave4_Phase) * localP->SineWave4_Amp + |
| 3175 | localP->SineWave4_Bias; |
| 3176 | localB->MultiportSwitch = localB->SineWave4; |
| 3177 | break; |
| 3178 | |
| 3179 | case 5: |
| 3180 | /* Sin: '<S13>/Sine Wave5' */ |
| 3181 | localB->SineWave5 = sin(localP->SineWave5_Freq * |
| 3182 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3183 | 0.002) + localP->SineWave5_Phase) * localP->SineWave5_Amp + |
| 3184 | localP->SineWave5_Bias; |
| 3185 | localB->MultiportSwitch = localB->SineWave5; |
| 3186 | break; |
| 3187 | |
| 3188 | case 6: |
| 3189 | /* Sin: '<S13>/Sine Wave6' */ |
| 3190 | localB->SineWave6 = sin(localP->SineWave6_Freq * |
| 3191 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3192 | 0.002) + localP->SineWave6_Phase) * localP->SineWave6_Amp + |
| 3193 | localP->SineWave6_Bias; |
| 3194 | localB->MultiportSwitch = localB->SineWave6; |
| 3195 | break; |
| 3196 | |
| 3197 | case 7: |
| 3198 | /* Sin: '<S13>/Sine Wave7' */ |
| 3199 | localB->SineWave7 = sin(localP->SineWave7_Freq * |
| 3200 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3201 | 0.002) + localP->SineWave7_Phase) * localP->SineWave7_Amp + |
| 3202 | localP->SineWave7_Bias; |
| 3203 | localB->MultiportSwitch = localB->SineWave7; |
| 3204 | break; |
| 3205 | |
| 3206 | default: |
| 3207 | /* Sin: '<S13>/Sine Wave8' */ |
| 3208 | localB->SineWave8 = sin(localP->SineWave8_Freq * |
| 3209 | (((motor_M->Timing.clockTick0+motor_M->Timing.clockTickH0* 4294967296.0)) * |
| 3210 | 0.002) + localP->SineWave8_Phase) * localP->SineWave8_Amp + |
| 3211 | localP->SineWave8_Bias; |
| 3212 | localB->MultiportSwitch = localB->SineWave8; |
| 3213 | break; |
| 3214 | } |
| 3215 | |
| 3216 | /* End of MultiPortSwitch: '<S13>/Multiport Switch' */ |
| 3217 | |
| 3218 | /* DataStoreWrite: '<S13>/Data Store Write' */ |
| 3219 | *rtd_Angle_S = localB->MultiportSwitch; |
| 3220 | |
| 3221 | /* DataStoreRead: '<S13>/Data Store Read' */ |
| 3222 | localB->DataStoreRead = *rtd_Angle_S; |
| 3223 | |
| 3224 | /* Product: '<S13>/Product' */ |
| 3225 | localB->Product = localB->DataStoreRead * rtu_Showing_Angle; |
| 3226 | |
| 3227 | /* Gain: '<S13>/Gain' */ |
| 3228 | localB->Gain = localP->Gain_Gain * localB->Product; |
| 3229 | |
| 3230 | /* DataTypeConversion: '<S13>/Data Type Conversion1' */ |
| 3231 | localB->DataTypeConversion1 = localB->Gain; |
| 3232 | } |
| 3233 | |
| 3234 | /* Function for Chart: '<Root>/Chart' */ |
| 3235 | static uint8_T motor_Temp_Up_Check(uint16_T In1, uint16_T In2) |
| 3236 | { |
| 3237 | uint8_T y; |
| 3238 | |
| 3239 | /* Graphical Function 'Temp_Up_Check': '<S1>:52' */ |
| 3240 | y = 0U; |
| 3241 | |
| 3242 | /* Transition: '<S1>:440' */ |
| 3243 | if ((!(In1 >= In2)) && (In1 < 2060)) { |
| 3244 | /* Transition: '<S1>:442' */ |
| 3245 | y = 1U; |
| 3246 | |
| 3247 | /* Transition: '<S1>:445' */ |
| 3248 | } else { |
| 3249 | /* Transition: '<S1>:441' */ |
| 3250 | /* Transition: '<S1>:443' */ |
| 3251 | /* Transition: '<S1>:445' */ |
| 3252 | /* Transition: '<S1>:1077' */ |
| 3253 | } |
| 3254 | |
| 3255 | return y; |
| 3256 | } |
| 3257 | |
| 3258 | /* Function for Chart: '<Root>/Chart' */ |
| 3259 | static uint8_T motor_Temp_Down_Check(uint16_T In1, uint16_T In2) |
| 3260 | { |
| 3261 | uint8_T y; |
| 3262 | |
| 3263 | /* Graphical Function 'Temp_Down_Check': '<S1>:85' */ |
| 3264 | y = 0U; |
| 3265 | |
| 3266 | /* Transition: '<S1>:478' */ |
| 3267 | if ((!(In1 <= In2)) && (In1 > 150)) { |
| 3268 | /* Transition: '<S1>:480' */ |
| 3269 | y = 1U; |
| 3270 | |
| 3271 | /* Transition: '<S1>:483' */ |
| 3272 | } else { |
| 3273 | /* Transition: '<S1>:479' */ |
| 3274 | /* Transition: '<S1>:481' */ |
| 3275 | /* Transition: '<S1>:482' */ |
| 3276 | /* Transition: '<S1>:483' */ |
| 3277 | /* Transition: '<S1>:1078' */ |
| 3278 | } |
| 3279 | |
| 3280 | return y; |
| 3281 | } |
| 3282 | |
| 3283 | /* Function for Chart: '<Root>/Chart' */ |
| 3284 | static void motor_defult(void) |
| 3285 | { |
| 3286 | /* Inport: '<Root>/Test_Mode' incorporates: |
| 3287 | * Inport: '<Root>/Motor_Num' |
| 3288 | */ |
| 3289 | /* During 'defult': '<S1>:239' */ |
| 3290 | if (motor_U.Test_Mode == 1) { |
| 3291 | /* Transition: '<S1>:429' */ |
| 3292 | motor_DWork.is_Test_Mode = motor_IN_Calibration; |
| 3293 | |
| 3294 | /* Entry 'Calibration': '<S1>:237' */ |
| 3295 | /* 标定模式 */ |
| 3296 | motor_Y.DCZD = false; |
| 3297 | |
| 3298 | /* 解除制动 */ |
| 3299 | motor_Y.Motor_En = true; |
| 3300 | |
| 3301 | /* 电机失能 */ |
| 3302 | motor_DWork.chu_jd = 0.0; |
| 3303 | motor_DWork.KG = 1U; |
| 3304 | } else if (motor_U.Test_Mode == 2) { |
| 3305 | /* Transition: '<S1>:432' */ |
| 3306 | motor_DWork.is_Test_Mode = motor_IN_Limit_Up_Test; |
| 3307 | |
| 3308 | /* Inport: '<Root>/Motor_Num' */ |
| 3309 | /* Entry 'Limit_Up_Test': '<S1>:238' */ |
| 3310 | /* 测试电子上限位 */ |
| 3311 | /* Entry Internal 'Limit_Up_Test': '<S1>:238' */ |
| 3312 | /* Transition: '<S1>:664' */ |
| 3313 | if (motor_U.Motor_Num == 1) { |
| 3314 | /* Transition: '<S1>:666' */ |
| 3315 | motor_DWork.is_Limit_Up_Test = motor_IN_XHZY_pv; |
| 3316 | |
| 3317 | /* Entry 'XHZY': '<S1>:257' */ |
| 3318 | /* 下滑纵摇电子上限位测试 */ |
| 3319 | /* Entry Internal 'XHZY': '<S1>:257' */ |
| 3320 | /* Transition: '<S1>:693' */ |
| 3321 | motor_DWork.is_XHZY_a = motor_IN_Int; |
| 3322 | motor_DWork.temporalCounter_i1 = 0U; |
| 3323 | |
| 3324 | /* Entry 'Int': '<S1>:259' */ |
| 3325 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 3326 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 3327 | |
| 3328 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3329 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 3330 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 3331 | |
| 3332 | /* Gain: '<S4>/GXZ6' */ |
| 3333 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 3334 | |
| 3335 | /* Gain: '<S4>/GXZ1' */ |
| 3336 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 3337 | |
| 3338 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3339 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 3340 | motor_Y.DCZD = false; |
| 3341 | |
| 3342 | /* 解除制动 */ |
| 3343 | motor_Y.Motor_En = false; |
| 3344 | |
| 3345 | /* 电机使能 */ |
| 3346 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3347 | motor_DWork.KG = 1U; |
| 3348 | motor_DWork.KG_JD = 0U; |
| 3349 | motor_DWork.KG_YJ = 0U; |
| 3350 | motor_DWork.KG_En = 1U; |
| 3351 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3352 | } else if (motor_U.Motor_Num == 3) { |
| 3353 | /* Transition: '<S1>:665' */ |
| 3354 | motor_DWork.is_Limit_Up_Test = motor_IN_XHHY_m1; |
| 3355 | |
| 3356 | /* Entry 'XHHY': '<S1>:256' */ |
| 3357 | /* 下滑横摇电子上限位测试 */ |
| 3358 | /* Entry Internal 'XHHY': '<S1>:256' */ |
| 3359 | /* Transition: '<S1>:685' */ |
| 3360 | motor_DWork.is_XHHY_nl = motor_IN_Int; |
| 3361 | motor_DWork.temporalCounter_i1 = 0U; |
| 3362 | |
| 3363 | /* Entry 'Int': '<S1>:268' */ |
| 3364 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 3365 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 3366 | |
| 3367 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3368 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 3369 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 3370 | |
| 3371 | /* Gain: '<S4>/GXZ6' */ |
| 3372 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 3373 | |
| 3374 | /* Gain: '<S4>/GXZ1' */ |
| 3375 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 3376 | |
| 3377 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3378 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 3379 | motor_Y.DCZD = false; |
| 3380 | |
| 3381 | /* 解除制动 */ |
| 3382 | motor_Y.Motor_En = false; |
| 3383 | |
| 3384 | /* 电机使能 */ |
| 3385 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3386 | motor_DWork.KG = 1U; |
| 3387 | motor_DWork.KG_JD = 0U; |
| 3388 | motor_DWork.KG_En = 1U; |
| 3389 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3390 | } else { |
| 3391 | if (motor_U.Motor_Num == 2) { |
| 3392 | /* Transition: '<S1>:667' */ |
| 3393 | motor_DWork.is_Limit_Up_Test = motor_IN_HY_f; |
| 3394 | |
| 3395 | /* Entry 'HY': '<S1>:258' */ |
| 3396 | /* 调试模式 */ |
| 3397 | /* Entry Internal 'HY': '<S1>:258' */ |
| 3398 | /* Transition: '<S1>:701' */ |
| 3399 | motor_DWork.is_HY_a = motor_IN_Int; |
| 3400 | motor_DWork.temporalCounter_i1 = 0U; |
| 3401 | |
| 3402 | /* Entry 'Int': '<S1>:275' */ |
| 3403 | /* Simulink Function 'Angle_Calculation_HY': '<S1>:253' */ |
| 3404 | motor_B.Encode_Pos_dc = motor_Y.Encode_Pos; |
| 3405 | |
| 3406 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 3407 | motor_Angle_Calculation_HY(motor_B.Encode_Pos_dc, |
| 3408 | &motor_B.Angle_Calculation_HY, (rtP_Angle_Calculation_HY_motor *) |
| 3409 | &motor_P.Angle_Calculation_HY); |
| 3410 | |
| 3411 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 3412 | motor_DWork.chu_jd = motor_B.Angle_Calculation_HY.GHDG9; |
| 3413 | motor_Y.DCZD = false; |
| 3414 | |
| 3415 | /* 解除制动 */ |
| 3416 | motor_Y.Motor_En = false; |
| 3417 | |
| 3418 | /* 电机使能 */ |
| 3419 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3420 | motor_DWork.KG = 1U; |
| 3421 | motor_DWork.KG_JD = 0U; |
| 3422 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3423 | } |
| 3424 | } |
| 3425 | } else if (motor_U.Test_Mode == 3) { |
| 3426 | /* Transition: '<S1>:430' */ |
| 3427 | motor_DWork.is_Test_Mode = motor_IN_Limit_Down_Test; |
| 3428 | |
| 3429 | /* Inport: '<Root>/Motor_Num' */ |
| 3430 | /* Entry 'Limit_Down_Test': '<S1>:240' */ |
| 3431 | /* 电子下限位检测 */ |
| 3432 | /* Entry Internal 'Limit_Down_Test': '<S1>:240' */ |
| 3433 | /* Transition: '<S1>:675' */ |
| 3434 | if (motor_U.Motor_Num == 1) { |
| 3435 | /* Transition: '<S1>:677' */ |
| 3436 | motor_DWork.is_Limit_Down_Test = motor_IN_XHZY_pv; |
| 3437 | |
| 3438 | /* Entry 'XHZY': '<S1>:288' */ |
| 3439 | /* 下滑纵摇电子下限位测试 */ |
| 3440 | /* Entry Internal 'XHZY': '<S1>:288' */ |
| 3441 | /* Transition: '<S1>:717' */ |
| 3442 | motor_DWork.is_XHZY_i = motor_IN_Int; |
| 3443 | motor_DWork.temporalCounter_i1 = 0U; |
| 3444 | |
| 3445 | /* Entry 'Int': '<S1>:289' */ |
| 3446 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 3447 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 3448 | |
| 3449 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3450 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 3451 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 3452 | |
| 3453 | /* Gain: '<S4>/GXZ6' */ |
| 3454 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 3455 | |
| 3456 | /* Gain: '<S4>/GXZ1' */ |
| 3457 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 3458 | |
| 3459 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3460 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 3461 | motor_Y.DCZD = false; |
| 3462 | |
| 3463 | /* 解除制动 */ |
| 3464 | motor_Y.Motor_En = false; |
| 3465 | |
| 3466 | /* 电机使能 */ |
| 3467 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3468 | motor_DWork.KG = 1U; |
| 3469 | motor_DWork.KG_JD = 0U; |
| 3470 | motor_DWork.KG_YJ = 0U; |
| 3471 | motor_DWork.KG_En = 1U; |
| 3472 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3473 | } else if (motor_U.Motor_Num == 3) { |
| 3474 | /* Transition: '<S1>:676' */ |
| 3475 | motor_DWork.is_Limit_Down_Test = motor_IN_XHHY_m1; |
| 3476 | |
| 3477 | /* Entry 'XHHY': '<S1>:296' */ |
| 3478 | /* 下滑横摇电子下限位测试 */ |
| 3479 | /* Entry Internal 'XHHY': '<S1>:296' */ |
| 3480 | /* Transition: '<S1>:725' */ |
| 3481 | motor_DWork.is_XHHY_f = motor_IN_Int; |
| 3482 | motor_DWork.temporalCounter_i1 = 0U; |
| 3483 | |
| 3484 | /* Entry 'Int': '<S1>:297' */ |
| 3485 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 3486 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 3487 | |
| 3488 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3489 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 3490 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 3491 | |
| 3492 | /* Gain: '<S4>/GXZ6' */ |
| 3493 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 3494 | |
| 3495 | /* Gain: '<S4>/GXZ1' */ |
| 3496 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 3497 | |
| 3498 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 3499 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 3500 | motor_Y.DCZD = false; |
| 3501 | |
| 3502 | /* 解除制动 */ |
| 3503 | motor_Y.Motor_En = false; |
| 3504 | |
| 3505 | /* 电机使能 */ |
| 3506 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3507 | motor_DWork.KG = 1U; |
| 3508 | motor_DWork.KG_JD = 0U; |
| 3509 | motor_DWork.KG_En = 1U; |
| 3510 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3511 | } else { |
| 3512 | if (motor_U.Motor_Num == 2) { |
| 3513 | /* Transition: '<S1>:678' */ |
| 3514 | motor_DWork.is_Limit_Down_Test = motor_IN_HY_f; |
| 3515 | |
| 3516 | /* Entry 'HY': '<S1>:280' */ |
| 3517 | /* 横摇灯杆电子下限位测试 */ |
| 3518 | /* Entry Internal 'HY': '<S1>:280' */ |
| 3519 | /* Transition: '<S1>:709' */ |
| 3520 | motor_DWork.is_HY_h = motor_IN_Int; |
| 3521 | motor_DWork.temporalCounter_i1 = 0U; |
| 3522 | |
| 3523 | /* Entry 'Int': '<S1>:281' */ |
| 3524 | /* Simulink Function 'Angle_Calculation_HY': '<S1>:253' */ |
| 3525 | motor_B.Encode_Pos_dc = motor_Y.Encode_Pos; |
| 3526 | |
| 3527 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 3528 | motor_Angle_Calculation_HY(motor_B.Encode_Pos_dc, |
| 3529 | &motor_B.Angle_Calculation_HY, (rtP_Angle_Calculation_HY_motor *) |
| 3530 | &motor_P.Angle_Calculation_HY); |
| 3531 | |
| 3532 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 3533 | motor_DWork.chu_jd = motor_B.Angle_Calculation_HY.GHDG9; |
| 3534 | motor_Y.DCZD = false; |
| 3535 | |
| 3536 | /* 解除制动 */ |
| 3537 | motor_Y.Motor_En = false; |
| 3538 | |
| 3539 | /* 电机使能 */ |
| 3540 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3541 | motor_DWork.KG = 1U; |
| 3542 | motor_DWork.KG_JD = 0U; |
| 3543 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3544 | } |
| 3545 | } |
| 3546 | } else if ((motor_U.Test_Mode == 4) && (motor_U.Motor_Num == 1)) { |
| 3547 | /* Transition: '<S1>:427' */ |
| 3548 | motor_DWork.is_Test_Mode = motor_IN_Elevation_Test; |
| 3549 | |
| 3550 | /* Entry 'Elevation_Test': '<S1>:304' */ |
| 3551 | /* 标定模式 */ |
| 3552 | motor_Y.DCZD = false; |
| 3553 | |
| 3554 | /* 解除制动 */ |
| 3555 | motor_Y.Motor_En = false; |
| 3556 | |
| 3557 | /* 电机使能 */ |
| 3558 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3559 | motor_DWork.chu_jd = 0.0; |
| 3560 | |
| 3561 | /* Entry Internal 'Elevation_Test': '<S1>:304' */ |
| 3562 | /* Transition: '<S1>:734' */ |
| 3563 | motor_DWork.is_Elevation_Test = motor_IN_Int; |
| 3564 | motor_DWork.temporalCounter_i1 = 0U; |
| 3565 | |
| 3566 | /* Entry 'Int': '<S1>:305' */ |
| 3567 | motor_DWork.KG = 1U; |
| 3568 | motor_DWork.KG_JD = 0U; |
| 3569 | motor_DWork.KG_YJ = 1U; |
| 3570 | motor_DWork.KG_En = 1U; |
| 3571 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3572 | } else { |
| 3573 | if (motor_U.Test_Mode == 5) { |
| 3574 | /* Transition: '<S1>:1064' */ |
| 3575 | motor_DWork.is_Test_Mode = motor_IN_Dspace_Test; |
| 3576 | |
| 3577 | /* Entry 'Dspace_Test': '<S1>:1051' */ |
| 3578 | /* Dspace调试 */ |
| 3579 | motor_Y.DCZD = false; |
| 3580 | |
| 3581 | /* 解除制动 */ |
| 3582 | motor_Y.Motor_En = false; |
| 3583 | |
| 3584 | /* 电机使能 */ |
| 3585 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 3586 | motor_DWork.chu_jd = 0.0; |
| 3587 | |
| 3588 | /* Entry Internal 'Dspace_Test': '<S1>:1051' */ |
| 3589 | /* Transition: '<S1>:1054' */ |
| 3590 | motor_DWork.is_Dspace_Test = motor_IN_Int; |
| 3591 | motor_DWork.temporalCounter_i1 = 0U; |
| 3592 | |
| 3593 | /* Entry 'Int': '<S1>:1058' */ |
| 3594 | motor_DWork.KG = 1U; |
| 3595 | motor_DWork.KG_JD = 0U; |
| 3596 | motor_DWork.KG_YJ = 0U; |
| 3597 | motor_DWork.KG_En = 1U; |
| 3598 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 3599 | } |
| 3600 | } |
| 3601 | |
| 3602 | /* End of Inport: '<Root>/Test_Mode' */ |
| 3603 | } |
| 3604 | |
| 3605 | /* Function for Chart: '<Root>/Chart' */ |
| 3606 | static void motor_XHZY_as(void) |
| 3607 | { |
| 3608 | int32_T tmp; |
| 3609 | uint16_T tmp_0; |
| 3610 | real_T tmp_1; |
| 3611 | |
| 3612 | /* During 'XHZY': '<S1>:288' */ |
| 3613 | switch (motor_DWork.is_XHZY_i) { |
| 3614 | case motor_IN_Int: |
| 3615 | /* During 'Int': '<S1>:289' */ |
| 3616 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 3617 | /* Transition: '<S1>:718' */ |
| 3618 | motor_DWork.is_XHZY_i = motor_IN_Int8; |
| 3619 | } |
| 3620 | break; |
| 3621 | |
| 3622 | case motor_IN_Int1: |
| 3623 | /* Inport: '<Root>/Down_Limit' */ |
| 3624 | /* During 'Int1': '<S1>:290' */ |
| 3625 | if (motor_U.Down_Limit == 0) { |
| 3626 | /* Transition: '<S1>:719' */ |
| 3627 | /* 下限位开关低电平有效 */ |
| 3628 | motor_DWork.is_XHZY_i = motor_IN_Int2_i; |
| 3629 | motor_DWork.temporalCounter_i1 = 0U; |
| 3630 | |
| 3631 | /* Entry 'Int2': '<S1>:291' */ |
| 3632 | motor_DWork.chu_jd -= 0.002; |
| 3633 | |
| 3634 | /* Inport: '<Root>/JD_In' */ |
| 3635 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 3636 | motor_B.JD_In_d = motor_U.JD_In; |
| 3637 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 3638 | |
| 3639 | /* Inport: '<Root>/YJ_In' */ |
| 3640 | motor_B.YJ_In = motor_U.YJ_In; |
| 3641 | |
| 3642 | /* Inport: '<Root>/Encode_Sp' */ |
| 3643 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 3644 | |
| 3645 | /* Inport: '<Root>/System_Order' */ |
| 3646 | motor_B.Slect_port_h = motor_U.System_Order; |
| 3647 | |
| 3648 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 3649 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 3650 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 3651 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 3652 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 3653 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 3654 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 3655 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 3656 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 3657 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 3658 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 3659 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 3660 | &motor_DWork.chu_jd); |
| 3661 | |
| 3662 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 3663 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 3664 | if (tmp_1 < 65536.0) { |
| 3665 | if (tmp_1 >= 0.0) { |
| 3666 | tmp_0 = (uint16_T)tmp_1; |
| 3667 | } else { |
| 3668 | tmp_0 = 0U; |
| 3669 | } |
| 3670 | } else { |
| 3671 | tmp_0 = MAX_uint16_T; |
| 3672 | } |
| 3673 | |
| 3674 | motor_Y.PWMOUT = tmp_0; |
| 3675 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 3676 | if (tmp_1 < 2.147483648E+9) { |
| 3677 | if (tmp_1 >= -2.147483648E+9) { |
| 3678 | tmp = (int32_T)tmp_1; |
| 3679 | } else { |
| 3680 | tmp = MIN_int32_T; |
| 3681 | } |
| 3682 | } else { |
| 3683 | tmp = MAX_int32_T; |
| 3684 | } |
| 3685 | |
| 3686 | motor_Y.JD_Out = tmp; |
| 3687 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 3688 | if (tmp_1 < 2.147483648E+9) { |
| 3689 | if (tmp_1 >= -2.147483648E+9) { |
| 3690 | tmp = (int32_T)tmp_1; |
| 3691 | } else { |
| 3692 | tmp = MIN_int32_T; |
| 3693 | } |
| 3694 | } else { |
| 3695 | tmp = MAX_int32_T; |
| 3696 | } |
| 3697 | |
| 3698 | motor_Y.JD_Error = tmp; |
| 3699 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 3700 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(5.0 / motor_DWork.Ts)) |
| 3701 | { |
| 3702 | /* Transition: '<S1>:1039' */ |
| 3703 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 3704 | |
| 3705 | /* 下限位开关故障$/ */ |
| 3706 | motor_DWork.is_XHZY_i = motor_IN_Int2_i; |
| 3707 | motor_DWork.temporalCounter_i1 = 0U; |
| 3708 | |
| 3709 | /* Entry 'Int2': '<S1>:291' */ |
| 3710 | motor_DWork.chu_jd -= 0.002; |
| 3711 | |
| 3712 | /* Inport: '<Root>/JD_In' */ |
| 3713 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 3714 | motor_B.JD_In_d = motor_U.JD_In; |
| 3715 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 3716 | |
| 3717 | /* Inport: '<Root>/YJ_In' */ |
| 3718 | motor_B.YJ_In = motor_U.YJ_In; |
| 3719 | |
| 3720 | /* Inport: '<Root>/Encode_Sp' */ |
| 3721 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 3722 | |
| 3723 | /* Inport: '<Root>/System_Order' */ |
| 3724 | motor_B.Slect_port_h = motor_U.System_Order; |
| 3725 | |
| 3726 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 3727 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 3728 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 3729 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 3730 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 3731 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 3732 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 3733 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 3734 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 3735 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 3736 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 3737 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 3738 | &motor_DWork.chu_jd); |
| 3739 | |
| 3740 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 3741 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 3742 | if (tmp_1 < 65536.0) { |
| 3743 | if (tmp_1 >= 0.0) { |
| 3744 | tmp_0 = (uint16_T)tmp_1; |
| 3745 | } else { |
| 3746 | tmp_0 = 0U; |
| 3747 | } |
| 3748 | } else { |
| 3749 | tmp_0 = MAX_uint16_T; |
| 3750 | } |
| 3751 | |
| 3752 | motor_Y.PWMOUT = tmp_0; |
| 3753 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 3754 | if (tmp_1 < 2.147483648E+9) { |
| 3755 | if (tmp_1 >= -2.147483648E+9) { |
| 3756 | tmp = (int32_T)tmp_1; |
| 3757 | } else { |
| 3758 | tmp = MIN_int32_T; |
| 3759 | } |
| 3760 | } else { |
| 3761 | tmp = MAX_int32_T; |
| 3762 | } |
| 3763 | |
| 3764 | motor_Y.JD_Out = tmp; |
| 3765 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 3766 | if (tmp_1 < 2.147483648E+9) { |
| 3767 | if (tmp_1 >= -2.147483648E+9) { |
| 3768 | tmp = (int32_T)tmp_1; |
| 3769 | } else { |
| 3770 | tmp = MIN_int32_T; |
| 3771 | } |
| 3772 | } else { |
| 3773 | tmp = MAX_int32_T; |
| 3774 | } |
| 3775 | |
| 3776 | motor_Y.JD_Error = tmp; |
| 3777 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 3778 | } else { |
| 3779 | motor_DWork.chu_jd -= 0.002; |
| 3780 | |
| 3781 | /* Inport: '<Root>/JD_In' */ |
| 3782 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 3783 | motor_B.JD_In_d = motor_U.JD_In; |
| 3784 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 3785 | |
| 3786 | /* Inport: '<Root>/YJ_In' */ |
| 3787 | motor_B.YJ_In = motor_U.YJ_In; |
| 3788 | |
| 3789 | /* Inport: '<Root>/Encode_Sp' */ |
| 3790 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 3791 | |
| 3792 | /* Inport: '<Root>/System_Order' */ |
| 3793 | motor_B.Slect_port_h = motor_U.System_Order; |
| 3794 | |
| 3795 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 3796 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 3797 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 3798 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 3799 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 3800 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 3801 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 3802 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 3803 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 3804 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 3805 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 3806 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 3807 | &motor_DWork.chu_jd); |
| 3808 | |
| 3809 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 3810 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 3811 | if (tmp_1 < 65536.0) { |
| 3812 | if (tmp_1 >= 0.0) { |
| 3813 | tmp_0 = (uint16_T)tmp_1; |
| 3814 | } else { |
| 3815 | tmp_0 = 0U; |
| 3816 | } |
| 3817 | } else { |
| 3818 | tmp_0 = MAX_uint16_T; |
| 3819 | } |
| 3820 | |
| 3821 | motor_Y.PWMOUT = tmp_0; |
| 3822 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 3823 | if (tmp_1 < 2.147483648E+9) { |
| 3824 | if (tmp_1 >= -2.147483648E+9) { |
| 3825 | tmp = (int32_T)tmp_1; |
| 3826 | } else { |
| 3827 | tmp = MIN_int32_T; |
| 3828 | } |
| 3829 | } else { |
| 3830 | tmp = MAX_int32_T; |
| 3831 | } |
| 3832 | |
| 3833 | motor_Y.JD_Out = tmp; |
| 3834 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 3835 | if (tmp_1 < 2.147483648E+9) { |
| 3836 | if (tmp_1 >= -2.147483648E+9) { |
| 3837 | tmp = (int32_T)tmp_1; |
| 3838 | } else { |
| 3839 | tmp = MIN_int32_T; |
| 3840 | } |
| 3841 | } else { |
| 3842 | tmp = MAX_int32_T; |
| 3843 | } |
| 3844 | |
| 3845 | motor_Y.JD_Error = tmp; |
| 3846 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 3847 | } |
| 3848 | |
| 3849 | /* End of Inport: '<Root>/Down_Limit' */ |
| 3850 | break; |
| 3851 | |
| 3852 | case motor_IN_Int2_i: |
| 3853 | /* During 'Int2': '<S1>:291' */ |
| 3854 | if (motor_DWork.temporalCounter_i1 >= 50U) { |
| 3855 | /* Transition: '<S1>:721' */ |
| 3856 | motor_DWork.is_XHZY_i = motor_IN_Int7; |
| 3857 | motor_DWork.temporalCounter_i1 = 0U; |
| 3858 | } else { |
| 3859 | motor_DWork.chu_jd -= 0.002; |
| 3860 | |
| 3861 | /* Inport: '<Root>/JD_In' */ |
| 3862 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 3863 | motor_B.JD_In_d = motor_U.JD_In; |
| 3864 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 3865 | |
| 3866 | /* Inport: '<Root>/YJ_In' */ |
| 3867 | motor_B.YJ_In = motor_U.YJ_In; |
| 3868 | |
| 3869 | /* Inport: '<Root>/Encode_Sp' */ |
| 3870 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 3871 | |
| 3872 | /* Inport: '<Root>/System_Order' */ |
| 3873 | motor_B.Slect_port_h = motor_U.System_Order; |
| 3874 | |
| 3875 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 3876 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 3877 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 3878 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 3879 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 3880 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 3881 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 3882 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 3883 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 3884 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 3885 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 3886 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 3887 | &motor_DWork.chu_jd); |
| 3888 | |
| 3889 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 3890 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 3891 | if (tmp_1 < 65536.0) { |
| 3892 | if (tmp_1 >= 0.0) { |
| 3893 | tmp_0 = (uint16_T)tmp_1; |
| 3894 | } else { |
| 3895 | tmp_0 = 0U; |
| 3896 | } |
| 3897 | } else { |
| 3898 | tmp_0 = MAX_uint16_T; |
| 3899 | } |
| 3900 | |
| 3901 | motor_Y.PWMOUT = tmp_0; |
| 3902 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 3903 | if (tmp_1 < 2.147483648E+9) { |
| 3904 | if (tmp_1 >= -2.147483648E+9) { |
| 3905 | tmp = (int32_T)tmp_1; |
| 3906 | } else { |
| 3907 | tmp = MIN_int32_T; |
| 3908 | } |
| 3909 | } else { |
| 3910 | tmp = MAX_int32_T; |
| 3911 | } |
| 3912 | |
| 3913 | motor_Y.JD_Out = tmp; |
| 3914 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 3915 | if (tmp_1 < 2.147483648E+9) { |
| 3916 | if (tmp_1 >= -2.147483648E+9) { |
| 3917 | tmp = (int32_T)tmp_1; |
| 3918 | } else { |
| 3919 | tmp = MIN_int32_T; |
| 3920 | } |
| 3921 | } else { |
| 3922 | tmp = MAX_int32_T; |
| 3923 | } |
| 3924 | |
| 3925 | motor_Y.JD_Error = tmp; |
| 3926 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 3927 | } |
| 3928 | break; |
| 3929 | |
| 3930 | case motor_IN_Int3_l: |
| 3931 | /* During 'Int3': '<S1>:292' */ |
| 3932 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 3933 | /* Transition: '<S1>:723' */ |
| 3934 | motor_DWork.is_XHZY_i = motor_IN_Int4_b; |
| 3935 | motor_DWork.temporalCounter_i1 = 0U; |
| 3936 | |
| 3937 | /* Entry 'Int4': '<S1>:294' */ |
| 3938 | motor_DWork.chu_jd = 0.0; |
| 3939 | |
| 3940 | /* Inport: '<Root>/JD_In' */ |
| 3941 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 3942 | motor_B.JD_In_d = motor_U.JD_In; |
| 3943 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 3944 | |
| 3945 | /* Inport: '<Root>/YJ_In' */ |
| 3946 | motor_B.YJ_In = motor_U.YJ_In; |
| 3947 | |
| 3948 | /* Inport: '<Root>/Encode_Sp' */ |
| 3949 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 3950 | |
| 3951 | /* Inport: '<Root>/System_Order' */ |
| 3952 | motor_B.Slect_port_h = motor_U.System_Order; |
| 3953 | |
| 3954 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 3955 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 3956 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 3957 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 3958 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 3959 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 3960 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 3961 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 3962 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 3963 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 3964 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 3965 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 3966 | &motor_DWork.chu_jd); |
| 3967 | |
| 3968 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 3969 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 3970 | if (tmp_1 < 65536.0) { |
| 3971 | if (tmp_1 >= 0.0) { |
| 3972 | tmp_0 = (uint16_T)tmp_1; |
| 3973 | } else { |
| 3974 | tmp_0 = 0U; |
| 3975 | } |
| 3976 | } else { |
| 3977 | tmp_0 = MAX_uint16_T; |
| 3978 | } |
| 3979 | |
| 3980 | motor_Y.PWMOUT = tmp_0; |
| 3981 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 3982 | if (tmp_1 < 2.147483648E+9) { |
| 3983 | if (tmp_1 >= -2.147483648E+9) { |
| 3984 | tmp = (int32_T)tmp_1; |
| 3985 | } else { |
| 3986 | tmp = MIN_int32_T; |
| 3987 | } |
| 3988 | } else { |
| 3989 | tmp = MAX_int32_T; |
| 3990 | } |
| 3991 | |
| 3992 | motor_Y.JD_Out = tmp; |
| 3993 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 3994 | if (tmp_1 < 2.147483648E+9) { |
| 3995 | if (tmp_1 >= -2.147483648E+9) { |
| 3996 | tmp = (int32_T)tmp_1; |
| 3997 | } else { |
| 3998 | tmp = MIN_int32_T; |
| 3999 | } |
| 4000 | } else { |
| 4001 | tmp = MAX_int32_T; |
| 4002 | } |
| 4003 | |
| 4004 | motor_Y.JD_Error = tmp; |
| 4005 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4006 | } else { |
| 4007 | motor_DWork.chu_jd += 0.01; |
| 4008 | |
| 4009 | /* Inport: '<Root>/JD_In' */ |
| 4010 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4011 | motor_B.JD_In_d = motor_U.JD_In; |
| 4012 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4013 | |
| 4014 | /* Inport: '<Root>/YJ_In' */ |
| 4015 | motor_B.YJ_In = motor_U.YJ_In; |
| 4016 | |
| 4017 | /* Inport: '<Root>/Encode_Sp' */ |
| 4018 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4019 | |
| 4020 | /* Inport: '<Root>/System_Order' */ |
| 4021 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4022 | |
| 4023 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4024 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4025 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4026 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4027 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4028 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4029 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4030 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4031 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4032 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4033 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4034 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4035 | &motor_DWork.chu_jd); |
| 4036 | |
| 4037 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4038 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4039 | if (tmp_1 < 65536.0) { |
| 4040 | if (tmp_1 >= 0.0) { |
| 4041 | tmp_0 = (uint16_T)tmp_1; |
| 4042 | } else { |
| 4043 | tmp_0 = 0U; |
| 4044 | } |
| 4045 | } else { |
| 4046 | tmp_0 = MAX_uint16_T; |
| 4047 | } |
| 4048 | |
| 4049 | motor_Y.PWMOUT = tmp_0; |
| 4050 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4051 | if (tmp_1 < 2.147483648E+9) { |
| 4052 | if (tmp_1 >= -2.147483648E+9) { |
| 4053 | tmp = (int32_T)tmp_1; |
| 4054 | } else { |
| 4055 | tmp = MIN_int32_T; |
| 4056 | } |
| 4057 | } else { |
| 4058 | tmp = MAX_int32_T; |
| 4059 | } |
| 4060 | |
| 4061 | motor_Y.JD_Out = tmp; |
| 4062 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4063 | if (tmp_1 < 2.147483648E+9) { |
| 4064 | if (tmp_1 >= -2.147483648E+9) { |
| 4065 | tmp = (int32_T)tmp_1; |
| 4066 | } else { |
| 4067 | tmp = MIN_int32_T; |
| 4068 | } |
| 4069 | } else { |
| 4070 | tmp = MAX_int32_T; |
| 4071 | } |
| 4072 | |
| 4073 | motor_Y.JD_Error = tmp; |
| 4074 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4075 | } |
| 4076 | break; |
| 4077 | |
| 4078 | case motor_IN_Int4_b: |
| 4079 | /* During 'Int4': '<S1>:294' */ |
| 4080 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 4081 | /* Transition: '<S1>:724' */ |
| 4082 | motor_DWork.is_XHZY_i = motor_IN_Int5_a; |
| 4083 | motor_DWork.temporalCounter_i1 = 0U; |
| 4084 | |
| 4085 | /* Entry 'Int5': '<S1>:295' */ |
| 4086 | motor_Y.Motor_En = true; |
| 4087 | |
| 4088 | /* 电机失能 */ |
| 4089 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 4090 | } else { |
| 4091 | /* Inport: '<Root>/JD_In' */ |
| 4092 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4093 | motor_B.JD_In_d = motor_U.JD_In; |
| 4094 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4095 | |
| 4096 | /* Inport: '<Root>/YJ_In' */ |
| 4097 | motor_B.YJ_In = motor_U.YJ_In; |
| 4098 | |
| 4099 | /* Inport: '<Root>/Encode_Sp' */ |
| 4100 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4101 | |
| 4102 | /* Inport: '<Root>/System_Order' */ |
| 4103 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4104 | |
| 4105 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4106 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4107 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4108 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4109 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4110 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4111 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4112 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4113 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4114 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4115 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4116 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4117 | &motor_DWork.chu_jd); |
| 4118 | |
| 4119 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4120 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4121 | if (tmp_1 < 65536.0) { |
| 4122 | if (tmp_1 >= 0.0) { |
| 4123 | tmp_0 = (uint16_T)tmp_1; |
| 4124 | } else { |
| 4125 | tmp_0 = 0U; |
| 4126 | } |
| 4127 | } else { |
| 4128 | tmp_0 = MAX_uint16_T; |
| 4129 | } |
| 4130 | |
| 4131 | motor_Y.PWMOUT = tmp_0; |
| 4132 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4133 | if (tmp_1 < 2.147483648E+9) { |
| 4134 | if (tmp_1 >= -2.147483648E+9) { |
| 4135 | tmp = (int32_T)tmp_1; |
| 4136 | } else { |
| 4137 | tmp = MIN_int32_T; |
| 4138 | } |
| 4139 | } else { |
| 4140 | tmp = MAX_int32_T; |
| 4141 | } |
| 4142 | |
| 4143 | motor_Y.JD_Out = tmp; |
| 4144 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4145 | if (tmp_1 < 2.147483648E+9) { |
| 4146 | if (tmp_1 >= -2.147483648E+9) { |
| 4147 | tmp = (int32_T)tmp_1; |
| 4148 | } else { |
| 4149 | tmp = MIN_int32_T; |
| 4150 | } |
| 4151 | } else { |
| 4152 | tmp = MAX_int32_T; |
| 4153 | } |
| 4154 | |
| 4155 | motor_Y.JD_Error = tmp; |
| 4156 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4157 | } |
| 4158 | break; |
| 4159 | |
| 4160 | case motor_IN_Int5_a: |
| 4161 | /* During 'Int5': '<S1>:295' */ |
| 4162 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 4163 | /* Transition: '<S1>:722' */ |
| 4164 | motor_DWork.is_XHZY_i = motor_IN_Int6_m; |
| 4165 | |
| 4166 | /* Entry 'Int6': '<S1>:293' */ |
| 4167 | motor_Y.DCZD = true; |
| 4168 | |
| 4169 | /* 开启制动 */ |
| 4170 | } |
| 4171 | break; |
| 4172 | |
| 4173 | case motor_IN_Int6_m: |
| 4174 | /* During 'Int6': '<S1>:293' */ |
| 4175 | /* Transition: '<S1>:720' */ |
| 4176 | /* Transition: '<S1>:674' */ |
| 4177 | motor_DWork.is_XHZY_i = motor_IN_NO_ACTIVE_CHILD; |
| 4178 | motor_DWork.is_Limit_Down_Test = motor_IN_NO_ACTIVE_CHILD; |
| 4179 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 4180 | |
| 4181 | /* Entry 'defult': '<S1>:239' */ |
| 4182 | motor_Y.Open_Result = 1U; |
| 4183 | |
| 4184 | /* 开机状态位成功 */ |
| 4185 | motor_DWork.In_State = 2U; |
| 4186 | break; |
| 4187 | |
| 4188 | case motor_IN_Int7: |
| 4189 | /* During 'Int7': '<S1>:973' */ |
| 4190 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 4191 | /* Transition: '<S1>:974' */ |
| 4192 | motor_DWork.is_XHZY_i = motor_IN_Int3_l; |
| 4193 | |
| 4194 | /* Entry 'Int3': '<S1>:292' */ |
| 4195 | motor_DWork.chu_jd += 0.01; |
| 4196 | |
| 4197 | /* Inport: '<Root>/JD_In' */ |
| 4198 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4199 | motor_B.JD_In_d = motor_U.JD_In; |
| 4200 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4201 | |
| 4202 | /* Inport: '<Root>/YJ_In' */ |
| 4203 | motor_B.YJ_In = motor_U.YJ_In; |
| 4204 | |
| 4205 | /* Inport: '<Root>/Encode_Sp' */ |
| 4206 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4207 | |
| 4208 | /* Inport: '<Root>/System_Order' */ |
| 4209 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4210 | |
| 4211 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4212 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4213 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4214 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4215 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4216 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4217 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4218 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4219 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4220 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4221 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4222 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4223 | &motor_DWork.chu_jd); |
| 4224 | |
| 4225 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4226 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4227 | if (tmp_1 < 65536.0) { |
| 4228 | if (tmp_1 >= 0.0) { |
| 4229 | tmp_0 = (uint16_T)tmp_1; |
| 4230 | } else { |
| 4231 | tmp_0 = 0U; |
| 4232 | } |
| 4233 | } else { |
| 4234 | tmp_0 = MAX_uint16_T; |
| 4235 | } |
| 4236 | |
| 4237 | motor_Y.PWMOUT = tmp_0; |
| 4238 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4239 | if (tmp_1 < 2.147483648E+9) { |
| 4240 | if (tmp_1 >= -2.147483648E+9) { |
| 4241 | tmp = (int32_T)tmp_1; |
| 4242 | } else { |
| 4243 | tmp = MIN_int32_T; |
| 4244 | } |
| 4245 | } else { |
| 4246 | tmp = MAX_int32_T; |
| 4247 | } |
| 4248 | |
| 4249 | motor_Y.JD_Out = tmp; |
| 4250 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4251 | if (tmp_1 < 2.147483648E+9) { |
| 4252 | if (tmp_1 >= -2.147483648E+9) { |
| 4253 | tmp = (int32_T)tmp_1; |
| 4254 | } else { |
| 4255 | tmp = MIN_int32_T; |
| 4256 | } |
| 4257 | } else { |
| 4258 | tmp = MAX_int32_T; |
| 4259 | } |
| 4260 | |
| 4261 | motor_Y.JD_Error = tmp; |
| 4262 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4263 | } else { |
| 4264 | /* Inport: '<Root>/JD_In' */ |
| 4265 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4266 | motor_B.JD_In_d = motor_U.JD_In; |
| 4267 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4268 | |
| 4269 | /* Inport: '<Root>/YJ_In' */ |
| 4270 | motor_B.YJ_In = motor_U.YJ_In; |
| 4271 | |
| 4272 | /* Inport: '<Root>/Encode_Sp' */ |
| 4273 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4274 | |
| 4275 | /* Inport: '<Root>/System_Order' */ |
| 4276 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4277 | |
| 4278 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4279 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4280 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4281 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4282 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4283 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4284 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4285 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4286 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4287 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4288 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4289 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4290 | &motor_DWork.chu_jd); |
| 4291 | |
| 4292 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4293 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4294 | if (tmp_1 < 65536.0) { |
| 4295 | if (tmp_1 >= 0.0) { |
| 4296 | tmp_0 = (uint16_T)tmp_1; |
| 4297 | } else { |
| 4298 | tmp_0 = 0U; |
| 4299 | } |
| 4300 | } else { |
| 4301 | tmp_0 = MAX_uint16_T; |
| 4302 | } |
| 4303 | |
| 4304 | motor_Y.PWMOUT = tmp_0; |
| 4305 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4306 | if (tmp_1 < 2.147483648E+9) { |
| 4307 | if (tmp_1 >= -2.147483648E+9) { |
| 4308 | tmp = (int32_T)tmp_1; |
| 4309 | } else { |
| 4310 | tmp = MIN_int32_T; |
| 4311 | } |
| 4312 | } else { |
| 4313 | tmp = MAX_int32_T; |
| 4314 | } |
| 4315 | |
| 4316 | motor_Y.JD_Out = tmp; |
| 4317 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4318 | if (tmp_1 < 2.147483648E+9) { |
| 4319 | if (tmp_1 >= -2.147483648E+9) { |
| 4320 | tmp = (int32_T)tmp_1; |
| 4321 | } else { |
| 4322 | tmp = MIN_int32_T; |
| 4323 | } |
| 4324 | } else { |
| 4325 | tmp = MAX_int32_T; |
| 4326 | } |
| 4327 | |
| 4328 | motor_Y.JD_Error = tmp; |
| 4329 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4330 | } |
| 4331 | break; |
| 4332 | |
| 4333 | default: |
| 4334 | /* During 'Int8': '<S1>:992' */ |
| 4335 | if (motor_DWork.chu_jd < -16.0) { |
| 4336 | /* Transition: '<S1>:993' */ |
| 4337 | motor_DWork.is_XHZY_i = motor_IN_Int1; |
| 4338 | motor_DWork.temporalCounter_i1 = 0U; |
| 4339 | |
| 4340 | /* Entry 'Int1': '<S1>:290' */ |
| 4341 | motor_DWork.chu_jd -= 0.002; |
| 4342 | |
| 4343 | /* Inport: '<Root>/JD_In' */ |
| 4344 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4345 | motor_B.JD_In_d = motor_U.JD_In; |
| 4346 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4347 | |
| 4348 | /* Inport: '<Root>/YJ_In' */ |
| 4349 | motor_B.YJ_In = motor_U.YJ_In; |
| 4350 | |
| 4351 | /* Inport: '<Root>/Encode_Sp' */ |
| 4352 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4353 | |
| 4354 | /* Inport: '<Root>/System_Order' */ |
| 4355 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4356 | |
| 4357 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4358 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4359 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4360 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4361 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4362 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4363 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4364 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4365 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4366 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4367 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4368 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4369 | &motor_DWork.chu_jd); |
| 4370 | |
| 4371 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4372 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4373 | if (tmp_1 < 65536.0) { |
| 4374 | if (tmp_1 >= 0.0) { |
| 4375 | tmp_0 = (uint16_T)tmp_1; |
| 4376 | } else { |
| 4377 | tmp_0 = 0U; |
| 4378 | } |
| 4379 | } else { |
| 4380 | tmp_0 = MAX_uint16_T; |
| 4381 | } |
| 4382 | |
| 4383 | motor_Y.PWMOUT = tmp_0; |
| 4384 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4385 | if (tmp_1 < 2.147483648E+9) { |
| 4386 | if (tmp_1 >= -2.147483648E+9) { |
| 4387 | tmp = (int32_T)tmp_1; |
| 4388 | } else { |
| 4389 | tmp = MIN_int32_T; |
| 4390 | } |
| 4391 | } else { |
| 4392 | tmp = MAX_int32_T; |
| 4393 | } |
| 4394 | |
| 4395 | motor_Y.JD_Out = tmp; |
| 4396 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4397 | if (tmp_1 < 2.147483648E+9) { |
| 4398 | if (tmp_1 >= -2.147483648E+9) { |
| 4399 | tmp = (int32_T)tmp_1; |
| 4400 | } else { |
| 4401 | tmp = MIN_int32_T; |
| 4402 | } |
| 4403 | } else { |
| 4404 | tmp = MAX_int32_T; |
| 4405 | } |
| 4406 | |
| 4407 | motor_Y.JD_Error = tmp; |
| 4408 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4409 | } else if (motor_U.Down_Limit == 0) { |
| 4410 | /* Transition: '<S1>:994' */ |
| 4411 | /* 下限位开关低电平有效 */ |
| 4412 | motor_DWork.is_XHZY_i = motor_IN_Int2_i; |
| 4413 | motor_DWork.temporalCounter_i1 = 0U; |
| 4414 | |
| 4415 | /* Entry 'Int2': '<S1>:291' */ |
| 4416 | motor_DWork.chu_jd -= 0.002; |
| 4417 | |
| 4418 | /* Inport: '<Root>/JD_In' */ |
| 4419 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4420 | motor_B.JD_In_d = motor_U.JD_In; |
| 4421 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4422 | |
| 4423 | /* Inport: '<Root>/YJ_In' */ |
| 4424 | motor_B.YJ_In = motor_U.YJ_In; |
| 4425 | |
| 4426 | /* Inport: '<Root>/Encode_Sp' */ |
| 4427 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4428 | |
| 4429 | /* Inport: '<Root>/System_Order' */ |
| 4430 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4431 | |
| 4432 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4433 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4434 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4435 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4436 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4437 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4438 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4439 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4440 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4441 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4442 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4443 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4444 | &motor_DWork.chu_jd); |
| 4445 | |
| 4446 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4447 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4448 | if (tmp_1 < 65536.0) { |
| 4449 | if (tmp_1 >= 0.0) { |
| 4450 | tmp_0 = (uint16_T)tmp_1; |
| 4451 | } else { |
| 4452 | tmp_0 = 0U; |
| 4453 | } |
| 4454 | } else { |
| 4455 | tmp_0 = MAX_uint16_T; |
| 4456 | } |
| 4457 | |
| 4458 | motor_Y.PWMOUT = tmp_0; |
| 4459 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4460 | if (tmp_1 < 2.147483648E+9) { |
| 4461 | if (tmp_1 >= -2.147483648E+9) { |
| 4462 | tmp = (int32_T)tmp_1; |
| 4463 | } else { |
| 4464 | tmp = MIN_int32_T; |
| 4465 | } |
| 4466 | } else { |
| 4467 | tmp = MAX_int32_T; |
| 4468 | } |
| 4469 | |
| 4470 | motor_Y.JD_Out = tmp; |
| 4471 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4472 | if (tmp_1 < 2.147483648E+9) { |
| 4473 | if (tmp_1 >= -2.147483648E+9) { |
| 4474 | tmp = (int32_T)tmp_1; |
| 4475 | } else { |
| 4476 | tmp = MIN_int32_T; |
| 4477 | } |
| 4478 | } else { |
| 4479 | tmp = MAX_int32_T; |
| 4480 | } |
| 4481 | |
| 4482 | motor_Y.JD_Error = tmp; |
| 4483 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4484 | } else { |
| 4485 | motor_DWork.chu_jd -= 0.01; |
| 4486 | |
| 4487 | /* Inport: '<Root>/JD_In' */ |
| 4488 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 4489 | motor_B.JD_In_d = motor_U.JD_In; |
| 4490 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 4491 | |
| 4492 | /* Inport: '<Root>/YJ_In' */ |
| 4493 | motor_B.YJ_In = motor_U.YJ_In; |
| 4494 | |
| 4495 | /* Inport: '<Root>/Encode_Sp' */ |
| 4496 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 4497 | |
| 4498 | /* Inport: '<Root>/System_Order' */ |
| 4499 | motor_B.Slect_port_h = motor_U.System_Order; |
| 4500 | |
| 4501 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 4502 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 4503 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 4504 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 4505 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 4506 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 4507 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 4508 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 4509 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 4510 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 4511 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 4512 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 4513 | &motor_DWork.chu_jd); |
| 4514 | |
| 4515 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 4516 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 4517 | if (tmp_1 < 65536.0) { |
| 4518 | if (tmp_1 >= 0.0) { |
| 4519 | tmp_0 = (uint16_T)tmp_1; |
| 4520 | } else { |
| 4521 | tmp_0 = 0U; |
| 4522 | } |
| 4523 | } else { |
| 4524 | tmp_0 = MAX_uint16_T; |
| 4525 | } |
| 4526 | |
| 4527 | motor_Y.PWMOUT = tmp_0; |
| 4528 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 4529 | if (tmp_1 < 2.147483648E+9) { |
| 4530 | if (tmp_1 >= -2.147483648E+9) { |
| 4531 | tmp = (int32_T)tmp_1; |
| 4532 | } else { |
| 4533 | tmp = MIN_int32_T; |
| 4534 | } |
| 4535 | } else { |
| 4536 | tmp = MAX_int32_T; |
| 4537 | } |
| 4538 | |
| 4539 | motor_Y.JD_Out = tmp; |
| 4540 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 4541 | if (tmp_1 < 2.147483648E+9) { |
| 4542 | if (tmp_1 >= -2.147483648E+9) { |
| 4543 | tmp = (int32_T)tmp_1; |
| 4544 | } else { |
| 4545 | tmp = MIN_int32_T; |
| 4546 | } |
| 4547 | } else { |
| 4548 | tmp = MAX_int32_T; |
| 4549 | } |
| 4550 | |
| 4551 | motor_Y.JD_Error = tmp; |
| 4552 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 4553 | } |
| 4554 | break; |
| 4555 | } |
| 4556 | } |
| 4557 | |
| 4558 | /* Function for Chart: '<Root>/Chart' */ |
| 4559 | static void motor_Limit_Down_Test(void) |
| 4560 | { |
| 4561 | int32_T tmp; |
| 4562 | real_T tmp_0; |
| 4563 | uint16_T tmp_1; |
| 4564 | |
| 4565 | /* During 'Limit_Down_Test': '<S1>:240' */ |
| 4566 | switch (motor_DWork.is_Limit_Down_Test) { |
| 4567 | case motor_IN_HY_f: |
| 4568 | /* During 'HY': '<S1>:280' */ |
| 4569 | switch (motor_DWork.is_HY_h) { |
| 4570 | case motor_IN_Int: |
| 4571 | /* During 'Int': '<S1>:281' */ |
| 4572 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 4573 | /* Transition: '<S1>:710' */ |
| 4574 | motor_DWork.is_HY_h = motor_IN_Int8; |
| 4575 | } |
| 4576 | break; |
| 4577 | |
| 4578 | case motor_IN_Int1: |
| 4579 | /* Inport: '<Root>/Down_Limit' */ |
| 4580 | /* During 'Int1': '<S1>:282' */ |
| 4581 | if (motor_U.Down_Limit == 0) { |
| 4582 | /* Transition: '<S1>:711' */ |
| 4583 | /* 上限位开关低电平有效 */ |
| 4584 | motor_DWork.is_HY_h = motor_IN_Int2_i; |
| 4585 | motor_DWork.temporalCounter_i1 = 0U; |
| 4586 | |
| 4587 | /* Entry 'Int2': '<S1>:283' */ |
| 4588 | motor_DWork.chu_jd -= 0.002; |
| 4589 | |
| 4590 | /* Inport: '<Root>/JD_In' */ |
| 4591 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4592 | motor_B.JD_In_f = motor_U.JD_In; |
| 4593 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4594 | |
| 4595 | /* Inport: '<Root>/System_Order' */ |
| 4596 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4597 | |
| 4598 | /* Inport: '<Root>/Encode_Sp' */ |
| 4599 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4600 | |
| 4601 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4602 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4603 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4604 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4605 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4606 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4607 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4608 | &motor_DWork.chu_jd); |
| 4609 | |
| 4610 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4611 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4612 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4613 | if (tmp_0 < 2.147483648E+9) { |
| 4614 | if (tmp_0 >= -2.147483648E+9) { |
| 4615 | tmp = (int32_T)tmp_0; |
| 4616 | } else { |
| 4617 | tmp = MIN_int32_T; |
| 4618 | } |
| 4619 | } else { |
| 4620 | tmp = MAX_int32_T; |
| 4621 | } |
| 4622 | |
| 4623 | motor_Y.JD_Error = tmp; |
| 4624 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4625 | if (tmp_0 < 2.147483648E+9) { |
| 4626 | if (tmp_0 >= -2.147483648E+9) { |
| 4627 | tmp = (int32_T)tmp_0; |
| 4628 | } else { |
| 4629 | tmp = MIN_int32_T; |
| 4630 | } |
| 4631 | } else { |
| 4632 | tmp = MAX_int32_T; |
| 4633 | } |
| 4634 | |
| 4635 | motor_Y.JD_Out = tmp; |
| 4636 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(7.0 / |
| 4637 | motor_DWork.Ts)) { |
| 4638 | /* Transition: '<S1>:1040' */ |
| 4639 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 4640 | |
| 4641 | /* 下限位开关故障$/ */ |
| 4642 | motor_DWork.is_HY_h = motor_IN_Int2_i; |
| 4643 | motor_DWork.temporalCounter_i1 = 0U; |
| 4644 | |
| 4645 | /* Entry 'Int2': '<S1>:283' */ |
| 4646 | motor_DWork.chu_jd -= 0.002; |
| 4647 | |
| 4648 | /* Inport: '<Root>/JD_In' */ |
| 4649 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4650 | motor_B.JD_In_f = motor_U.JD_In; |
| 4651 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4652 | |
| 4653 | /* Inport: '<Root>/System_Order' */ |
| 4654 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4655 | |
| 4656 | /* Inport: '<Root>/Encode_Sp' */ |
| 4657 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4658 | |
| 4659 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4660 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4661 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4662 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4663 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4664 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4665 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4666 | &motor_DWork.chu_jd); |
| 4667 | |
| 4668 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4669 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4670 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4671 | if (tmp_0 < 2.147483648E+9) { |
| 4672 | if (tmp_0 >= -2.147483648E+9) { |
| 4673 | tmp = (int32_T)tmp_0; |
| 4674 | } else { |
| 4675 | tmp = MIN_int32_T; |
| 4676 | } |
| 4677 | } else { |
| 4678 | tmp = MAX_int32_T; |
| 4679 | } |
| 4680 | |
| 4681 | motor_Y.JD_Error = tmp; |
| 4682 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4683 | if (tmp_0 < 2.147483648E+9) { |
| 4684 | if (tmp_0 >= -2.147483648E+9) { |
| 4685 | tmp = (int32_T)tmp_0; |
| 4686 | } else { |
| 4687 | tmp = MIN_int32_T; |
| 4688 | } |
| 4689 | } else { |
| 4690 | tmp = MAX_int32_T; |
| 4691 | } |
| 4692 | |
| 4693 | motor_Y.JD_Out = tmp; |
| 4694 | } else { |
| 4695 | motor_DWork.chu_jd -= 0.002; |
| 4696 | |
| 4697 | /* Inport: '<Root>/JD_In' */ |
| 4698 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4699 | motor_B.JD_In_f = motor_U.JD_In; |
| 4700 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4701 | |
| 4702 | /* Inport: '<Root>/System_Order' */ |
| 4703 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4704 | |
| 4705 | /* Inport: '<Root>/Encode_Sp' */ |
| 4706 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4707 | |
| 4708 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4709 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4710 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4711 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4712 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4713 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4714 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4715 | &motor_DWork.chu_jd); |
| 4716 | |
| 4717 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4718 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4719 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4720 | if (tmp_0 < 2.147483648E+9) { |
| 4721 | if (tmp_0 >= -2.147483648E+9) { |
| 4722 | tmp = (int32_T)tmp_0; |
| 4723 | } else { |
| 4724 | tmp = MIN_int32_T; |
| 4725 | } |
| 4726 | } else { |
| 4727 | tmp = MAX_int32_T; |
| 4728 | } |
| 4729 | |
| 4730 | motor_Y.JD_Error = tmp; |
| 4731 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4732 | if (tmp_0 < 2.147483648E+9) { |
| 4733 | if (tmp_0 >= -2.147483648E+9) { |
| 4734 | tmp = (int32_T)tmp_0; |
| 4735 | } else { |
| 4736 | tmp = MIN_int32_T; |
| 4737 | } |
| 4738 | } else { |
| 4739 | tmp = MAX_int32_T; |
| 4740 | } |
| 4741 | |
| 4742 | motor_Y.JD_Out = tmp; |
| 4743 | } |
| 4744 | break; |
| 4745 | |
| 4746 | case motor_IN_Int2_i: |
| 4747 | /* During 'Int2': '<S1>:283' */ |
| 4748 | if (motor_DWork.temporalCounter_i1 >= 50U) { |
| 4749 | /* Transition: '<S1>:713' */ |
| 4750 | motor_DWork.is_HY_h = motor_IN_Int7; |
| 4751 | motor_DWork.temporalCounter_i1 = 0U; |
| 4752 | } else { |
| 4753 | motor_DWork.chu_jd -= 0.002; |
| 4754 | |
| 4755 | /* Inport: '<Root>/JD_In' */ |
| 4756 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4757 | motor_B.JD_In_f = motor_U.JD_In; |
| 4758 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4759 | |
| 4760 | /* Inport: '<Root>/System_Order' */ |
| 4761 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4762 | |
| 4763 | /* Inport: '<Root>/Encode_Sp' */ |
| 4764 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4765 | |
| 4766 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4767 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4768 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4769 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4770 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4771 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4772 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4773 | &motor_DWork.chu_jd); |
| 4774 | |
| 4775 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4776 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4777 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4778 | if (tmp_0 < 2.147483648E+9) { |
| 4779 | if (tmp_0 >= -2.147483648E+9) { |
| 4780 | tmp = (int32_T)tmp_0; |
| 4781 | } else { |
| 4782 | tmp = MIN_int32_T; |
| 4783 | } |
| 4784 | } else { |
| 4785 | tmp = MAX_int32_T; |
| 4786 | } |
| 4787 | |
| 4788 | motor_Y.JD_Error = tmp; |
| 4789 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4790 | if (tmp_0 < 2.147483648E+9) { |
| 4791 | if (tmp_0 >= -2.147483648E+9) { |
| 4792 | tmp = (int32_T)tmp_0; |
| 4793 | } else { |
| 4794 | tmp = MIN_int32_T; |
| 4795 | } |
| 4796 | } else { |
| 4797 | tmp = MAX_int32_T; |
| 4798 | } |
| 4799 | |
| 4800 | motor_Y.JD_Out = tmp; |
| 4801 | } |
| 4802 | break; |
| 4803 | |
| 4804 | case motor_IN_Int3_l: |
| 4805 | /* During 'Int3': '<S1>:284' */ |
| 4806 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 4807 | /* Transition: '<S1>:714' */ |
| 4808 | motor_DWork.is_HY_h = motor_IN_Int4_b; |
| 4809 | motor_DWork.temporalCounter_i1 = 0U; |
| 4810 | |
| 4811 | /* Entry 'Int4': '<S1>:286' */ |
| 4812 | motor_DWork.chu_jd = 0.0; |
| 4813 | |
| 4814 | /* Inport: '<Root>/JD_In' */ |
| 4815 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4816 | motor_B.JD_In_f = motor_U.JD_In; |
| 4817 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4818 | |
| 4819 | /* Inport: '<Root>/System_Order' */ |
| 4820 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4821 | |
| 4822 | /* Inport: '<Root>/Encode_Sp' */ |
| 4823 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4824 | |
| 4825 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4826 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4827 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4828 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4829 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4830 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4831 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4832 | &motor_DWork.chu_jd); |
| 4833 | |
| 4834 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4835 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4836 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4837 | if (tmp_0 < 2.147483648E+9) { |
| 4838 | if (tmp_0 >= -2.147483648E+9) { |
| 4839 | tmp = (int32_T)tmp_0; |
| 4840 | } else { |
| 4841 | tmp = MIN_int32_T; |
| 4842 | } |
| 4843 | } else { |
| 4844 | tmp = MAX_int32_T; |
| 4845 | } |
| 4846 | |
| 4847 | motor_Y.JD_Error = tmp; |
| 4848 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4849 | if (tmp_0 < 2.147483648E+9) { |
| 4850 | if (tmp_0 >= -2.147483648E+9) { |
| 4851 | tmp = (int32_T)tmp_0; |
| 4852 | } else { |
| 4853 | tmp = MIN_int32_T; |
| 4854 | } |
| 4855 | } else { |
| 4856 | tmp = MAX_int32_T; |
| 4857 | } |
| 4858 | |
| 4859 | motor_Y.JD_Out = tmp; |
| 4860 | } else { |
| 4861 | motor_DWork.chu_jd += 0.01; |
| 4862 | |
| 4863 | /* Inport: '<Root>/JD_In' */ |
| 4864 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4865 | motor_B.JD_In_f = motor_U.JD_In; |
| 4866 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4867 | |
| 4868 | /* Inport: '<Root>/System_Order' */ |
| 4869 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4870 | |
| 4871 | /* Inport: '<Root>/Encode_Sp' */ |
| 4872 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4873 | |
| 4874 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4875 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4876 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4877 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4878 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4879 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4880 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4881 | &motor_DWork.chu_jd); |
| 4882 | |
| 4883 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4884 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4885 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4886 | if (tmp_0 < 2.147483648E+9) { |
| 4887 | if (tmp_0 >= -2.147483648E+9) { |
| 4888 | tmp = (int32_T)tmp_0; |
| 4889 | } else { |
| 4890 | tmp = MIN_int32_T; |
| 4891 | } |
| 4892 | } else { |
| 4893 | tmp = MAX_int32_T; |
| 4894 | } |
| 4895 | |
| 4896 | motor_Y.JD_Error = tmp; |
| 4897 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4898 | if (tmp_0 < 2.147483648E+9) { |
| 4899 | if (tmp_0 >= -2.147483648E+9) { |
| 4900 | tmp = (int32_T)tmp_0; |
| 4901 | } else { |
| 4902 | tmp = MIN_int32_T; |
| 4903 | } |
| 4904 | } else { |
| 4905 | tmp = MAX_int32_T; |
| 4906 | } |
| 4907 | |
| 4908 | motor_Y.JD_Out = tmp; |
| 4909 | } |
| 4910 | break; |
| 4911 | |
| 4912 | case motor_IN_Int4_b: |
| 4913 | /* During 'Int4': '<S1>:286' */ |
| 4914 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 4915 | /* Transition: '<S1>:716' */ |
| 4916 | motor_DWork.is_HY_h = motor_IN_Int5_a; |
| 4917 | motor_DWork.temporalCounter_i1 = 0U; |
| 4918 | |
| 4919 | /* Entry 'Int5': '<S1>:287' */ |
| 4920 | motor_Y.Motor_En = true; |
| 4921 | |
| 4922 | /* 电机失能 */ |
| 4923 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 4924 | } else { |
| 4925 | /* Inport: '<Root>/JD_In' */ |
| 4926 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 4927 | motor_B.JD_In_f = motor_U.JD_In; |
| 4928 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 4929 | |
| 4930 | /* Inport: '<Root>/System_Order' */ |
| 4931 | motor_B.Slect_port_c = motor_U.System_Order; |
| 4932 | |
| 4933 | /* Inport: '<Root>/Encode_Sp' */ |
| 4934 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 4935 | |
| 4936 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 4937 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 4938 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 4939 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 4940 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 4941 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 4942 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 4943 | &motor_DWork.chu_jd); |
| 4944 | |
| 4945 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 4946 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 4947 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 4948 | if (tmp_0 < 2.147483648E+9) { |
| 4949 | if (tmp_0 >= -2.147483648E+9) { |
| 4950 | tmp = (int32_T)tmp_0; |
| 4951 | } else { |
| 4952 | tmp = MIN_int32_T; |
| 4953 | } |
| 4954 | } else { |
| 4955 | tmp = MAX_int32_T; |
| 4956 | } |
| 4957 | |
| 4958 | motor_Y.JD_Error = tmp; |
| 4959 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 4960 | if (tmp_0 < 2.147483648E+9) { |
| 4961 | if (tmp_0 >= -2.147483648E+9) { |
| 4962 | tmp = (int32_T)tmp_0; |
| 4963 | } else { |
| 4964 | tmp = MIN_int32_T; |
| 4965 | } |
| 4966 | } else { |
| 4967 | tmp = MAX_int32_T; |
| 4968 | } |
| 4969 | |
| 4970 | motor_Y.JD_Out = tmp; |
| 4971 | } |
| 4972 | break; |
| 4973 | |
| 4974 | case motor_IN_Int5_a: |
| 4975 | /* During 'Int5': '<S1>:287' */ |
| 4976 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 4977 | /* Transition: '<S1>:715' */ |
| 4978 | motor_DWork.is_HY_h = motor_IN_Int6_m; |
| 4979 | |
| 4980 | /* Entry 'Int6': '<S1>:285' */ |
| 4981 | motor_Y.DCZD = true; |
| 4982 | |
| 4983 | /* 开启制动 */ |
| 4984 | } |
| 4985 | break; |
| 4986 | |
| 4987 | case motor_IN_Int6_m: |
| 4988 | /* During 'Int6': '<S1>:285' */ |
| 4989 | /* Transition: '<S1>:712' */ |
| 4990 | /* Transition: '<S1>:674' */ |
| 4991 | motor_DWork.is_HY_h = motor_IN_NO_ACTIVE_CHILD; |
| 4992 | motor_DWork.is_Limit_Down_Test = motor_IN_NO_ACTIVE_CHILD; |
| 4993 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 4994 | |
| 4995 | /* Entry 'defult': '<S1>:239' */ |
| 4996 | motor_Y.Open_Result = 1U; |
| 4997 | |
| 4998 | /* 开机状态位成功 */ |
| 4999 | motor_DWork.In_State = 2U; |
| 5000 | break; |
| 5001 | |
| 5002 | case motor_IN_Int7: |
| 5003 | /* During 'Int7': '<S1>:975' */ |
| 5004 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 5005 | /* Transition: '<S1>:976' */ |
| 5006 | motor_DWork.is_HY_h = motor_IN_Int3_l; |
| 5007 | |
| 5008 | /* Entry 'Int3': '<S1>:284' */ |
| 5009 | motor_DWork.chu_jd += 0.01; |
| 5010 | |
| 5011 | /* Inport: '<Root>/JD_In' */ |
| 5012 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 5013 | motor_B.JD_In_f = motor_U.JD_In; |
| 5014 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 5015 | |
| 5016 | /* Inport: '<Root>/System_Order' */ |
| 5017 | motor_B.Slect_port_c = motor_U.System_Order; |
| 5018 | |
| 5019 | /* Inport: '<Root>/Encode_Sp' */ |
| 5020 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 5021 | |
| 5022 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 5023 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 5024 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 5025 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 5026 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 5027 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 5028 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5029 | &motor_DWork.chu_jd); |
| 5030 | |
| 5031 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 5032 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 5033 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 5034 | if (tmp_0 < 2.147483648E+9) { |
| 5035 | if (tmp_0 >= -2.147483648E+9) { |
| 5036 | tmp = (int32_T)tmp_0; |
| 5037 | } else { |
| 5038 | tmp = MIN_int32_T; |
| 5039 | } |
| 5040 | } else { |
| 5041 | tmp = MAX_int32_T; |
| 5042 | } |
| 5043 | |
| 5044 | motor_Y.JD_Error = tmp; |
| 5045 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 5046 | if (tmp_0 < 2.147483648E+9) { |
| 5047 | if (tmp_0 >= -2.147483648E+9) { |
| 5048 | tmp = (int32_T)tmp_0; |
| 5049 | } else { |
| 5050 | tmp = MIN_int32_T; |
| 5051 | } |
| 5052 | } else { |
| 5053 | tmp = MAX_int32_T; |
| 5054 | } |
| 5055 | |
| 5056 | motor_Y.JD_Out = tmp; |
| 5057 | } else { |
| 5058 | /* Inport: '<Root>/JD_In' */ |
| 5059 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 5060 | motor_B.JD_In_f = motor_U.JD_In; |
| 5061 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 5062 | |
| 5063 | /* Inport: '<Root>/System_Order' */ |
| 5064 | motor_B.Slect_port_c = motor_U.System_Order; |
| 5065 | |
| 5066 | /* Inport: '<Root>/Encode_Sp' */ |
| 5067 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 5068 | |
| 5069 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 5070 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 5071 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 5072 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 5073 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 5074 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 5075 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5076 | &motor_DWork.chu_jd); |
| 5077 | |
| 5078 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 5079 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 5080 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 5081 | if (tmp_0 < 2.147483648E+9) { |
| 5082 | if (tmp_0 >= -2.147483648E+9) { |
| 5083 | tmp = (int32_T)tmp_0; |
| 5084 | } else { |
| 5085 | tmp = MIN_int32_T; |
| 5086 | } |
| 5087 | } else { |
| 5088 | tmp = MAX_int32_T; |
| 5089 | } |
| 5090 | |
| 5091 | motor_Y.JD_Error = tmp; |
| 5092 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 5093 | if (tmp_0 < 2.147483648E+9) { |
| 5094 | if (tmp_0 >= -2.147483648E+9) { |
| 5095 | tmp = (int32_T)tmp_0; |
| 5096 | } else { |
| 5097 | tmp = MIN_int32_T; |
| 5098 | } |
| 5099 | } else { |
| 5100 | tmp = MAX_int32_T; |
| 5101 | } |
| 5102 | |
| 5103 | motor_Y.JD_Out = tmp; |
| 5104 | } |
| 5105 | break; |
| 5106 | |
| 5107 | default: |
| 5108 | /* During 'Int8': '<S1>:995' */ |
| 5109 | if (motor_DWork.chu_jd < -14.0) { |
| 5110 | /* Transition: '<S1>:997' */ |
| 5111 | motor_DWork.is_HY_h = motor_IN_Int1; |
| 5112 | motor_DWork.temporalCounter_i1 = 0U; |
| 5113 | |
| 5114 | /* Entry 'Int1': '<S1>:282' */ |
| 5115 | motor_DWork.chu_jd -= 0.002; |
| 5116 | |
| 5117 | /* Inport: '<Root>/JD_In' */ |
| 5118 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 5119 | motor_B.JD_In_f = motor_U.JD_In; |
| 5120 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 5121 | |
| 5122 | /* Inport: '<Root>/System_Order' */ |
| 5123 | motor_B.Slect_port_c = motor_U.System_Order; |
| 5124 | |
| 5125 | /* Inport: '<Root>/Encode_Sp' */ |
| 5126 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 5127 | |
| 5128 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 5129 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 5130 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 5131 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 5132 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 5133 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 5134 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5135 | &motor_DWork.chu_jd); |
| 5136 | |
| 5137 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 5138 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 5139 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 5140 | if (tmp_0 < 2.147483648E+9) { |
| 5141 | if (tmp_0 >= -2.147483648E+9) { |
| 5142 | tmp = (int32_T)tmp_0; |
| 5143 | } else { |
| 5144 | tmp = MIN_int32_T; |
| 5145 | } |
| 5146 | } else { |
| 5147 | tmp = MAX_int32_T; |
| 5148 | } |
| 5149 | |
| 5150 | motor_Y.JD_Error = tmp; |
| 5151 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 5152 | if (tmp_0 < 2.147483648E+9) { |
| 5153 | if (tmp_0 >= -2.147483648E+9) { |
| 5154 | tmp = (int32_T)tmp_0; |
| 5155 | } else { |
| 5156 | tmp = MIN_int32_T; |
| 5157 | } |
| 5158 | } else { |
| 5159 | tmp = MAX_int32_T; |
| 5160 | } |
| 5161 | |
| 5162 | motor_Y.JD_Out = tmp; |
| 5163 | } else if (motor_U.Down_Limit == 0) { |
| 5164 | /* Transition: '<S1>:996' */ |
| 5165 | /* 下限位开关低电平有效 */ |
| 5166 | motor_DWork.is_HY_h = motor_IN_Int2_i; |
| 5167 | motor_DWork.temporalCounter_i1 = 0U; |
| 5168 | |
| 5169 | /* Entry 'Int2': '<S1>:283' */ |
| 5170 | motor_DWork.chu_jd -= 0.002; |
| 5171 | |
| 5172 | /* Inport: '<Root>/JD_In' */ |
| 5173 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 5174 | motor_B.JD_In_f = motor_U.JD_In; |
| 5175 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 5176 | |
| 5177 | /* Inport: '<Root>/System_Order' */ |
| 5178 | motor_B.Slect_port_c = motor_U.System_Order; |
| 5179 | |
| 5180 | /* Inport: '<Root>/Encode_Sp' */ |
| 5181 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 5182 | |
| 5183 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 5184 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 5185 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 5186 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 5187 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 5188 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 5189 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5190 | &motor_DWork.chu_jd); |
| 5191 | |
| 5192 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 5193 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 5194 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 5195 | if (tmp_0 < 2.147483648E+9) { |
| 5196 | if (tmp_0 >= -2.147483648E+9) { |
| 5197 | tmp = (int32_T)tmp_0; |
| 5198 | } else { |
| 5199 | tmp = MIN_int32_T; |
| 5200 | } |
| 5201 | } else { |
| 5202 | tmp = MAX_int32_T; |
| 5203 | } |
| 5204 | |
| 5205 | motor_Y.JD_Error = tmp; |
| 5206 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 5207 | if (tmp_0 < 2.147483648E+9) { |
| 5208 | if (tmp_0 >= -2.147483648E+9) { |
| 5209 | tmp = (int32_T)tmp_0; |
| 5210 | } else { |
| 5211 | tmp = MIN_int32_T; |
| 5212 | } |
| 5213 | } else { |
| 5214 | tmp = MAX_int32_T; |
| 5215 | } |
| 5216 | |
| 5217 | motor_Y.JD_Out = tmp; |
| 5218 | } else { |
| 5219 | motor_DWork.chu_jd -= 0.01; |
| 5220 | |
| 5221 | /* Inport: '<Root>/JD_In' */ |
| 5222 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 5223 | motor_B.JD_In_f = motor_U.JD_In; |
| 5224 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 5225 | |
| 5226 | /* Inport: '<Root>/System_Order' */ |
| 5227 | motor_B.Slect_port_c = motor_U.System_Order; |
| 5228 | |
| 5229 | /* Inport: '<Root>/Encode_Sp' */ |
| 5230 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 5231 | |
| 5232 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 5233 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 5234 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 5235 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 5236 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 5237 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 5238 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5239 | &motor_DWork.chu_jd); |
| 5240 | |
| 5241 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 5242 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 5243 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 5244 | if (tmp_0 < 2.147483648E+9) { |
| 5245 | if (tmp_0 >= -2.147483648E+9) { |
| 5246 | tmp = (int32_T)tmp_0; |
| 5247 | } else { |
| 5248 | tmp = MIN_int32_T; |
| 5249 | } |
| 5250 | } else { |
| 5251 | tmp = MAX_int32_T; |
| 5252 | } |
| 5253 | |
| 5254 | motor_Y.JD_Error = tmp; |
| 5255 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 5256 | if (tmp_0 < 2.147483648E+9) { |
| 5257 | if (tmp_0 >= -2.147483648E+9) { |
| 5258 | tmp = (int32_T)tmp_0; |
| 5259 | } else { |
| 5260 | tmp = MIN_int32_T; |
| 5261 | } |
| 5262 | } else { |
| 5263 | tmp = MAX_int32_T; |
| 5264 | } |
| 5265 | |
| 5266 | motor_Y.JD_Out = tmp; |
| 5267 | } |
| 5268 | break; |
| 5269 | } |
| 5270 | break; |
| 5271 | |
| 5272 | case motor_IN_XHHY_m1: |
| 5273 | /* During 'XHHY': '<S1>:296' */ |
| 5274 | switch (motor_DWork.is_XHHY_f) { |
| 5275 | case motor_IN_Int: |
| 5276 | /* During 'Int': '<S1>:297' */ |
| 5277 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 5278 | /* Transition: '<S1>:726' */ |
| 5279 | motor_DWork.is_XHHY_f = motor_IN_Int8; |
| 5280 | } |
| 5281 | break; |
| 5282 | |
| 5283 | case motor_IN_Int1: |
| 5284 | /* Inport: '<Root>/Down_Limit' */ |
| 5285 | /* During 'Int1': '<S1>:298' */ |
| 5286 | if (motor_U.Down_Limit == 0) { |
| 5287 | /* Transition: '<S1>:727' */ |
| 5288 | /* 下限位开关低电平有效 */ |
| 5289 | motor_DWork.is_XHHY_f = motor_IN_Int2_i; |
| 5290 | motor_DWork.temporalCounter_i1 = 0U; |
| 5291 | |
| 5292 | /* Entry 'Int2': '<S1>:299' */ |
| 5293 | motor_DWork.chu_jd -= 0.002; |
| 5294 | |
| 5295 | /* Inport: '<Root>/JD_In' */ |
| 5296 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5297 | motor_B.JD_In = motor_U.JD_In; |
| 5298 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5299 | |
| 5300 | /* Inport: '<Root>/Encode_Sp' */ |
| 5301 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5302 | |
| 5303 | /* Inport: '<Root>/System_Order' */ |
| 5304 | motor_B.Slect_port = motor_U.System_Order; |
| 5305 | |
| 5306 | /* Inport: '<Root>/SGWY_In' */ |
| 5307 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5308 | |
| 5309 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5310 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5311 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5312 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5313 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5314 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5315 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5316 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5317 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5318 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5319 | &motor_DWork.chu_jd); |
| 5320 | |
| 5321 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5322 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5323 | if (tmp_0 < 65536.0) { |
| 5324 | if (tmp_0 >= 0.0) { |
| 5325 | tmp_1 = (uint16_T)tmp_0; |
| 5326 | } else { |
| 5327 | tmp_1 = 0U; |
| 5328 | } |
| 5329 | } else { |
| 5330 | tmp_1 = MAX_uint16_T; |
| 5331 | } |
| 5332 | |
| 5333 | motor_Y.PWMOUT = tmp_1; |
| 5334 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5335 | if (tmp_0 < 2.147483648E+9) { |
| 5336 | if (tmp_0 >= -2.147483648E+9) { |
| 5337 | tmp = (int32_T)tmp_0; |
| 5338 | } else { |
| 5339 | tmp = MIN_int32_T; |
| 5340 | } |
| 5341 | } else { |
| 5342 | tmp = MAX_int32_T; |
| 5343 | } |
| 5344 | |
| 5345 | motor_Y.JD_Out = tmp; |
| 5346 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5347 | if (tmp_0 < 2.147483648E+9) { |
| 5348 | if (tmp_0 >= -2.147483648E+9) { |
| 5349 | tmp = (int32_T)tmp_0; |
| 5350 | } else { |
| 5351 | tmp = MIN_int32_T; |
| 5352 | } |
| 5353 | } else { |
| 5354 | tmp = MAX_int32_T; |
| 5355 | } |
| 5356 | |
| 5357 | motor_Y.JD_Error = tmp; |
| 5358 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(5.0 / |
| 5359 | motor_DWork.Ts)) { |
| 5360 | /* Transition: '<S1>:1041' */ |
| 5361 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 5362 | |
| 5363 | /* 下限位开关故障$/ */ |
| 5364 | motor_DWork.is_XHHY_f = motor_IN_Int2_i; |
| 5365 | motor_DWork.temporalCounter_i1 = 0U; |
| 5366 | |
| 5367 | /* Entry 'Int2': '<S1>:299' */ |
| 5368 | motor_DWork.chu_jd -= 0.002; |
| 5369 | |
| 5370 | /* Inport: '<Root>/JD_In' */ |
| 5371 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5372 | motor_B.JD_In = motor_U.JD_In; |
| 5373 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5374 | |
| 5375 | /* Inport: '<Root>/Encode_Sp' */ |
| 5376 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5377 | |
| 5378 | /* Inport: '<Root>/System_Order' */ |
| 5379 | motor_B.Slect_port = motor_U.System_Order; |
| 5380 | |
| 5381 | /* Inport: '<Root>/SGWY_In' */ |
| 5382 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5383 | |
| 5384 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5385 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5386 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5387 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5388 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5389 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5390 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5391 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5392 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5393 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5394 | &motor_DWork.chu_jd); |
| 5395 | |
| 5396 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5397 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5398 | if (tmp_0 < 65536.0) { |
| 5399 | if (tmp_0 >= 0.0) { |
| 5400 | tmp_1 = (uint16_T)tmp_0; |
| 5401 | } else { |
| 5402 | tmp_1 = 0U; |
| 5403 | } |
| 5404 | } else { |
| 5405 | tmp_1 = MAX_uint16_T; |
| 5406 | } |
| 5407 | |
| 5408 | motor_Y.PWMOUT = tmp_1; |
| 5409 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5410 | if (tmp_0 < 2.147483648E+9) { |
| 5411 | if (tmp_0 >= -2.147483648E+9) { |
| 5412 | tmp = (int32_T)tmp_0; |
| 5413 | } else { |
| 5414 | tmp = MIN_int32_T; |
| 5415 | } |
| 5416 | } else { |
| 5417 | tmp = MAX_int32_T; |
| 5418 | } |
| 5419 | |
| 5420 | motor_Y.JD_Out = tmp; |
| 5421 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5422 | if (tmp_0 < 2.147483648E+9) { |
| 5423 | if (tmp_0 >= -2.147483648E+9) { |
| 5424 | tmp = (int32_T)tmp_0; |
| 5425 | } else { |
| 5426 | tmp = MIN_int32_T; |
| 5427 | } |
| 5428 | } else { |
| 5429 | tmp = MAX_int32_T; |
| 5430 | } |
| 5431 | |
| 5432 | motor_Y.JD_Error = tmp; |
| 5433 | } else { |
| 5434 | motor_DWork.chu_jd -= 0.002; |
| 5435 | |
| 5436 | /* Inport: '<Root>/JD_In' */ |
| 5437 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5438 | motor_B.JD_In = motor_U.JD_In; |
| 5439 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5440 | |
| 5441 | /* Inport: '<Root>/Encode_Sp' */ |
| 5442 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5443 | |
| 5444 | /* Inport: '<Root>/System_Order' */ |
| 5445 | motor_B.Slect_port = motor_U.System_Order; |
| 5446 | |
| 5447 | /* Inport: '<Root>/SGWY_In' */ |
| 5448 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5449 | |
| 5450 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5451 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5452 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5453 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5454 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5455 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5456 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5457 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5458 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5459 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5460 | &motor_DWork.chu_jd); |
| 5461 | |
| 5462 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5463 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5464 | if (tmp_0 < 65536.0) { |
| 5465 | if (tmp_0 >= 0.0) { |
| 5466 | tmp_1 = (uint16_T)tmp_0; |
| 5467 | } else { |
| 5468 | tmp_1 = 0U; |
| 5469 | } |
| 5470 | } else { |
| 5471 | tmp_1 = MAX_uint16_T; |
| 5472 | } |
| 5473 | |
| 5474 | motor_Y.PWMOUT = tmp_1; |
| 5475 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5476 | if (tmp_0 < 2.147483648E+9) { |
| 5477 | if (tmp_0 >= -2.147483648E+9) { |
| 5478 | tmp = (int32_T)tmp_0; |
| 5479 | } else { |
| 5480 | tmp = MIN_int32_T; |
| 5481 | } |
| 5482 | } else { |
| 5483 | tmp = MAX_int32_T; |
| 5484 | } |
| 5485 | |
| 5486 | motor_Y.JD_Out = tmp; |
| 5487 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5488 | if (tmp_0 < 2.147483648E+9) { |
| 5489 | if (tmp_0 >= -2.147483648E+9) { |
| 5490 | tmp = (int32_T)tmp_0; |
| 5491 | } else { |
| 5492 | tmp = MIN_int32_T; |
| 5493 | } |
| 5494 | } else { |
| 5495 | tmp = MAX_int32_T; |
| 5496 | } |
| 5497 | |
| 5498 | motor_Y.JD_Error = tmp; |
| 5499 | } |
| 5500 | break; |
| 5501 | |
| 5502 | case motor_IN_Int2_i: |
| 5503 | /* During 'Int2': '<S1>:299' */ |
| 5504 | if (motor_DWork.temporalCounter_i1 >= 50U) { |
| 5505 | /* Transition: '<S1>:729' */ |
| 5506 | motor_DWork.is_XHHY_f = motor_IN_Int7; |
| 5507 | motor_DWork.temporalCounter_i1 = 0U; |
| 5508 | } else { |
| 5509 | motor_DWork.chu_jd -= 0.002; |
| 5510 | |
| 5511 | /* Inport: '<Root>/JD_In' */ |
| 5512 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5513 | motor_B.JD_In = motor_U.JD_In; |
| 5514 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5515 | |
| 5516 | /* Inport: '<Root>/Encode_Sp' */ |
| 5517 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5518 | |
| 5519 | /* Inport: '<Root>/System_Order' */ |
| 5520 | motor_B.Slect_port = motor_U.System_Order; |
| 5521 | |
| 5522 | /* Inport: '<Root>/SGWY_In' */ |
| 5523 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5524 | |
| 5525 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5526 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5527 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5528 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5529 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5530 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5531 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5532 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5533 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5534 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5535 | &motor_DWork.chu_jd); |
| 5536 | |
| 5537 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5538 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5539 | if (tmp_0 < 65536.0) { |
| 5540 | if (tmp_0 >= 0.0) { |
| 5541 | tmp_1 = (uint16_T)tmp_0; |
| 5542 | } else { |
| 5543 | tmp_1 = 0U; |
| 5544 | } |
| 5545 | } else { |
| 5546 | tmp_1 = MAX_uint16_T; |
| 5547 | } |
| 5548 | |
| 5549 | motor_Y.PWMOUT = tmp_1; |
| 5550 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5551 | if (tmp_0 < 2.147483648E+9) { |
| 5552 | if (tmp_0 >= -2.147483648E+9) { |
| 5553 | tmp = (int32_T)tmp_0; |
| 5554 | } else { |
| 5555 | tmp = MIN_int32_T; |
| 5556 | } |
| 5557 | } else { |
| 5558 | tmp = MAX_int32_T; |
| 5559 | } |
| 5560 | |
| 5561 | motor_Y.JD_Out = tmp; |
| 5562 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5563 | if (tmp_0 < 2.147483648E+9) { |
| 5564 | if (tmp_0 >= -2.147483648E+9) { |
| 5565 | tmp = (int32_T)tmp_0; |
| 5566 | } else { |
| 5567 | tmp = MIN_int32_T; |
| 5568 | } |
| 5569 | } else { |
| 5570 | tmp = MAX_int32_T; |
| 5571 | } |
| 5572 | |
| 5573 | motor_Y.JD_Error = tmp; |
| 5574 | } |
| 5575 | break; |
| 5576 | |
| 5577 | case motor_IN_Int3_l: |
| 5578 | /* During 'Int3': '<S1>:300' */ |
| 5579 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 5580 | /* Transition: '<S1>:730' */ |
| 5581 | motor_DWork.is_XHHY_f = motor_IN_Int4_b; |
| 5582 | motor_DWork.temporalCounter_i1 = 0U; |
| 5583 | |
| 5584 | /* Entry 'Int4': '<S1>:302' */ |
| 5585 | motor_DWork.chu_jd = 0.0; |
| 5586 | |
| 5587 | /* Inport: '<Root>/JD_In' */ |
| 5588 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5589 | motor_B.JD_In = motor_U.JD_In; |
| 5590 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5591 | |
| 5592 | /* Inport: '<Root>/Encode_Sp' */ |
| 5593 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5594 | |
| 5595 | /* Inport: '<Root>/System_Order' */ |
| 5596 | motor_B.Slect_port = motor_U.System_Order; |
| 5597 | |
| 5598 | /* Inport: '<Root>/SGWY_In' */ |
| 5599 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5600 | |
| 5601 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5602 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5603 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5604 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5605 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5606 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5607 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5608 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5609 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5610 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5611 | &motor_DWork.chu_jd); |
| 5612 | |
| 5613 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5614 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5615 | if (tmp_0 < 65536.0) { |
| 5616 | if (tmp_0 >= 0.0) { |
| 5617 | tmp_1 = (uint16_T)tmp_0; |
| 5618 | } else { |
| 5619 | tmp_1 = 0U; |
| 5620 | } |
| 5621 | } else { |
| 5622 | tmp_1 = MAX_uint16_T; |
| 5623 | } |
| 5624 | |
| 5625 | motor_Y.PWMOUT = tmp_1; |
| 5626 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5627 | if (tmp_0 < 2.147483648E+9) { |
| 5628 | if (tmp_0 >= -2.147483648E+9) { |
| 5629 | tmp = (int32_T)tmp_0; |
| 5630 | } else { |
| 5631 | tmp = MIN_int32_T; |
| 5632 | } |
| 5633 | } else { |
| 5634 | tmp = MAX_int32_T; |
| 5635 | } |
| 5636 | |
| 5637 | motor_Y.JD_Out = tmp; |
| 5638 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5639 | if (tmp_0 < 2.147483648E+9) { |
| 5640 | if (tmp_0 >= -2.147483648E+9) { |
| 5641 | tmp = (int32_T)tmp_0; |
| 5642 | } else { |
| 5643 | tmp = MIN_int32_T; |
| 5644 | } |
| 5645 | } else { |
| 5646 | tmp = MAX_int32_T; |
| 5647 | } |
| 5648 | |
| 5649 | motor_Y.JD_Error = tmp; |
| 5650 | } else { |
| 5651 | motor_DWork.chu_jd += 0.01; |
| 5652 | |
| 5653 | /* Inport: '<Root>/JD_In' */ |
| 5654 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5655 | motor_B.JD_In = motor_U.JD_In; |
| 5656 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5657 | |
| 5658 | /* Inport: '<Root>/Encode_Sp' */ |
| 5659 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5660 | |
| 5661 | /* Inport: '<Root>/System_Order' */ |
| 5662 | motor_B.Slect_port = motor_U.System_Order; |
| 5663 | |
| 5664 | /* Inport: '<Root>/SGWY_In' */ |
| 5665 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5666 | |
| 5667 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5668 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5669 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5670 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5671 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5672 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5673 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5674 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5675 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5676 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5677 | &motor_DWork.chu_jd); |
| 5678 | |
| 5679 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5680 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5681 | if (tmp_0 < 65536.0) { |
| 5682 | if (tmp_0 >= 0.0) { |
| 5683 | tmp_1 = (uint16_T)tmp_0; |
| 5684 | } else { |
| 5685 | tmp_1 = 0U; |
| 5686 | } |
| 5687 | } else { |
| 5688 | tmp_1 = MAX_uint16_T; |
| 5689 | } |
| 5690 | |
| 5691 | motor_Y.PWMOUT = tmp_1; |
| 5692 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5693 | if (tmp_0 < 2.147483648E+9) { |
| 5694 | if (tmp_0 >= -2.147483648E+9) { |
| 5695 | tmp = (int32_T)tmp_0; |
| 5696 | } else { |
| 5697 | tmp = MIN_int32_T; |
| 5698 | } |
| 5699 | } else { |
| 5700 | tmp = MAX_int32_T; |
| 5701 | } |
| 5702 | |
| 5703 | motor_Y.JD_Out = tmp; |
| 5704 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5705 | if (tmp_0 < 2.147483648E+9) { |
| 5706 | if (tmp_0 >= -2.147483648E+9) { |
| 5707 | tmp = (int32_T)tmp_0; |
| 5708 | } else { |
| 5709 | tmp = MIN_int32_T; |
| 5710 | } |
| 5711 | } else { |
| 5712 | tmp = MAX_int32_T; |
| 5713 | } |
| 5714 | |
| 5715 | motor_Y.JD_Error = tmp; |
| 5716 | } |
| 5717 | break; |
| 5718 | |
| 5719 | case motor_IN_Int4_b: |
| 5720 | /* During 'Int4': '<S1>:302' */ |
| 5721 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 5722 | /* Transition: '<S1>:732' */ |
| 5723 | motor_DWork.is_XHHY_f = motor_IN_Int5_a; |
| 5724 | motor_DWork.temporalCounter_i1 = 0U; |
| 5725 | |
| 5726 | /* Entry 'Int5': '<S1>:303' */ |
| 5727 | motor_Y.Motor_En = true; |
| 5728 | |
| 5729 | /* 电机失能 */ |
| 5730 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 5731 | } else { |
| 5732 | /* Inport: '<Root>/JD_In' */ |
| 5733 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5734 | motor_B.JD_In = motor_U.JD_In; |
| 5735 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5736 | |
| 5737 | /* Inport: '<Root>/Encode_Sp' */ |
| 5738 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5739 | |
| 5740 | /* Inport: '<Root>/System_Order' */ |
| 5741 | motor_B.Slect_port = motor_U.System_Order; |
| 5742 | |
| 5743 | /* Inport: '<Root>/SGWY_In' */ |
| 5744 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5745 | |
| 5746 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5747 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5748 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5749 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5750 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5751 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5752 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5753 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5754 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5755 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5756 | &motor_DWork.chu_jd); |
| 5757 | |
| 5758 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5759 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5760 | if (tmp_0 < 65536.0) { |
| 5761 | if (tmp_0 >= 0.0) { |
| 5762 | tmp_1 = (uint16_T)tmp_0; |
| 5763 | } else { |
| 5764 | tmp_1 = 0U; |
| 5765 | } |
| 5766 | } else { |
| 5767 | tmp_1 = MAX_uint16_T; |
| 5768 | } |
| 5769 | |
| 5770 | motor_Y.PWMOUT = tmp_1; |
| 5771 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5772 | if (tmp_0 < 2.147483648E+9) { |
| 5773 | if (tmp_0 >= -2.147483648E+9) { |
| 5774 | tmp = (int32_T)tmp_0; |
| 5775 | } else { |
| 5776 | tmp = MIN_int32_T; |
| 5777 | } |
| 5778 | } else { |
| 5779 | tmp = MAX_int32_T; |
| 5780 | } |
| 5781 | |
| 5782 | motor_Y.JD_Out = tmp; |
| 5783 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5784 | if (tmp_0 < 2.147483648E+9) { |
| 5785 | if (tmp_0 >= -2.147483648E+9) { |
| 5786 | tmp = (int32_T)tmp_0; |
| 5787 | } else { |
| 5788 | tmp = MIN_int32_T; |
| 5789 | } |
| 5790 | } else { |
| 5791 | tmp = MAX_int32_T; |
| 5792 | } |
| 5793 | |
| 5794 | motor_Y.JD_Error = tmp; |
| 5795 | } |
| 5796 | break; |
| 5797 | |
| 5798 | case motor_IN_Int5_a: |
| 5799 | /* During 'Int5': '<S1>:303' */ |
| 5800 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 5801 | /* Transition: '<S1>:731' */ |
| 5802 | motor_DWork.is_XHHY_f = motor_IN_Int6_m; |
| 5803 | |
| 5804 | /* Entry 'Int6': '<S1>:301' */ |
| 5805 | motor_Y.DCZD = true; |
| 5806 | |
| 5807 | /* 开启制动 */ |
| 5808 | } |
| 5809 | break; |
| 5810 | |
| 5811 | case motor_IN_Int6_m: |
| 5812 | /* During 'Int6': '<S1>:301' */ |
| 5813 | /* Transition: '<S1>:728' */ |
| 5814 | /* Transition: '<S1>:674' */ |
| 5815 | motor_DWork.is_XHHY_f = motor_IN_NO_ACTIVE_CHILD; |
| 5816 | motor_DWork.is_Limit_Down_Test = motor_IN_NO_ACTIVE_CHILD; |
| 5817 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 5818 | |
| 5819 | /* Entry 'defult': '<S1>:239' */ |
| 5820 | motor_Y.Open_Result = 1U; |
| 5821 | |
| 5822 | /* 开机状态位成功 */ |
| 5823 | motor_DWork.In_State = 2U; |
| 5824 | break; |
| 5825 | |
| 5826 | case motor_IN_Int7: |
| 5827 | /* During 'Int7': '<S1>:977' */ |
| 5828 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 5829 | /* Transition: '<S1>:979' */ |
| 5830 | motor_DWork.is_XHHY_f = motor_IN_Int3_l; |
| 5831 | |
| 5832 | /* Entry 'Int3': '<S1>:300' */ |
| 5833 | motor_DWork.chu_jd += 0.01; |
| 5834 | |
| 5835 | /* Inport: '<Root>/JD_In' */ |
| 5836 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5837 | motor_B.JD_In = motor_U.JD_In; |
| 5838 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5839 | |
| 5840 | /* Inport: '<Root>/Encode_Sp' */ |
| 5841 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5842 | |
| 5843 | /* Inport: '<Root>/System_Order' */ |
| 5844 | motor_B.Slect_port = motor_U.System_Order; |
| 5845 | |
| 5846 | /* Inport: '<Root>/SGWY_In' */ |
| 5847 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5848 | |
| 5849 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5850 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5851 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5852 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5853 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5854 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5855 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5856 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5857 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5858 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5859 | &motor_DWork.chu_jd); |
| 5860 | |
| 5861 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5862 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5863 | if (tmp_0 < 65536.0) { |
| 5864 | if (tmp_0 >= 0.0) { |
| 5865 | tmp_1 = (uint16_T)tmp_0; |
| 5866 | } else { |
| 5867 | tmp_1 = 0U; |
| 5868 | } |
| 5869 | } else { |
| 5870 | tmp_1 = MAX_uint16_T; |
| 5871 | } |
| 5872 | |
| 5873 | motor_Y.PWMOUT = tmp_1; |
| 5874 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5875 | if (tmp_0 < 2.147483648E+9) { |
| 5876 | if (tmp_0 >= -2.147483648E+9) { |
| 5877 | tmp = (int32_T)tmp_0; |
| 5878 | } else { |
| 5879 | tmp = MIN_int32_T; |
| 5880 | } |
| 5881 | } else { |
| 5882 | tmp = MAX_int32_T; |
| 5883 | } |
| 5884 | |
| 5885 | motor_Y.JD_Out = tmp; |
| 5886 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5887 | if (tmp_0 < 2.147483648E+9) { |
| 5888 | if (tmp_0 >= -2.147483648E+9) { |
| 5889 | tmp = (int32_T)tmp_0; |
| 5890 | } else { |
| 5891 | tmp = MIN_int32_T; |
| 5892 | } |
| 5893 | } else { |
| 5894 | tmp = MAX_int32_T; |
| 5895 | } |
| 5896 | |
| 5897 | motor_Y.JD_Error = tmp; |
| 5898 | } else { |
| 5899 | /* Inport: '<Root>/JD_In' */ |
| 5900 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5901 | motor_B.JD_In = motor_U.JD_In; |
| 5902 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5903 | |
| 5904 | /* Inport: '<Root>/Encode_Sp' */ |
| 5905 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5906 | |
| 5907 | /* Inport: '<Root>/System_Order' */ |
| 5908 | motor_B.Slect_port = motor_U.System_Order; |
| 5909 | |
| 5910 | /* Inport: '<Root>/SGWY_In' */ |
| 5911 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5912 | |
| 5913 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5914 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5915 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5916 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5917 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5918 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5919 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5920 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5921 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5922 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5923 | &motor_DWork.chu_jd); |
| 5924 | |
| 5925 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 5926 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 5927 | if (tmp_0 < 65536.0) { |
| 5928 | if (tmp_0 >= 0.0) { |
| 5929 | tmp_1 = (uint16_T)tmp_0; |
| 5930 | } else { |
| 5931 | tmp_1 = 0U; |
| 5932 | } |
| 5933 | } else { |
| 5934 | tmp_1 = MAX_uint16_T; |
| 5935 | } |
| 5936 | |
| 5937 | motor_Y.PWMOUT = tmp_1; |
| 5938 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 5939 | if (tmp_0 < 2.147483648E+9) { |
| 5940 | if (tmp_0 >= -2.147483648E+9) { |
| 5941 | tmp = (int32_T)tmp_0; |
| 5942 | } else { |
| 5943 | tmp = MIN_int32_T; |
| 5944 | } |
| 5945 | } else { |
| 5946 | tmp = MAX_int32_T; |
| 5947 | } |
| 5948 | |
| 5949 | motor_Y.JD_Out = tmp; |
| 5950 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 5951 | if (tmp_0 < 2.147483648E+9) { |
| 5952 | if (tmp_0 >= -2.147483648E+9) { |
| 5953 | tmp = (int32_T)tmp_0; |
| 5954 | } else { |
| 5955 | tmp = MIN_int32_T; |
| 5956 | } |
| 5957 | } else { |
| 5958 | tmp = MAX_int32_T; |
| 5959 | } |
| 5960 | |
| 5961 | motor_Y.JD_Error = tmp; |
| 5962 | } |
| 5963 | break; |
| 5964 | |
| 5965 | default: |
| 5966 | /* During 'Int8': '<S1>:998' */ |
| 5967 | if (motor_DWork.chu_jd < -16.0) { |
| 5968 | /* Transition: '<S1>:999' */ |
| 5969 | motor_DWork.is_XHHY_f = motor_IN_Int1; |
| 5970 | motor_DWork.temporalCounter_i1 = 0U; |
| 5971 | |
| 5972 | /* Entry 'Int1': '<S1>:298' */ |
| 5973 | motor_DWork.chu_jd -= 0.002; |
| 5974 | |
| 5975 | /* Inport: '<Root>/JD_In' */ |
| 5976 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 5977 | motor_B.JD_In = motor_U.JD_In; |
| 5978 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 5979 | |
| 5980 | /* Inport: '<Root>/Encode_Sp' */ |
| 5981 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 5982 | |
| 5983 | /* Inport: '<Root>/System_Order' */ |
| 5984 | motor_B.Slect_port = motor_U.System_Order; |
| 5985 | |
| 5986 | /* Inport: '<Root>/SGWY_In' */ |
| 5987 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 5988 | |
| 5989 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 5990 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 5991 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 5992 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 5993 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 5994 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 5995 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 5996 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 5997 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 5998 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 5999 | &motor_DWork.chu_jd); |
| 6000 | |
| 6001 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 6002 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 6003 | if (tmp_0 < 65536.0) { |
| 6004 | if (tmp_0 >= 0.0) { |
| 6005 | tmp_1 = (uint16_T)tmp_0; |
| 6006 | } else { |
| 6007 | tmp_1 = 0U; |
| 6008 | } |
| 6009 | } else { |
| 6010 | tmp_1 = MAX_uint16_T; |
| 6011 | } |
| 6012 | |
| 6013 | motor_Y.PWMOUT = tmp_1; |
| 6014 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 6015 | if (tmp_0 < 2.147483648E+9) { |
| 6016 | if (tmp_0 >= -2.147483648E+9) { |
| 6017 | tmp = (int32_T)tmp_0; |
| 6018 | } else { |
| 6019 | tmp = MIN_int32_T; |
| 6020 | } |
| 6021 | } else { |
| 6022 | tmp = MAX_int32_T; |
| 6023 | } |
| 6024 | |
| 6025 | motor_Y.JD_Out = tmp; |
| 6026 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 6027 | if (tmp_0 < 2.147483648E+9) { |
| 6028 | if (tmp_0 >= -2.147483648E+9) { |
| 6029 | tmp = (int32_T)tmp_0; |
| 6030 | } else { |
| 6031 | tmp = MIN_int32_T; |
| 6032 | } |
| 6033 | } else { |
| 6034 | tmp = MAX_int32_T; |
| 6035 | } |
| 6036 | |
| 6037 | motor_Y.JD_Error = tmp; |
| 6038 | } else if (motor_U.Down_Limit == 0) { |
| 6039 | /* Transition: '<S1>:1001' */ |
| 6040 | /* 下限位开关低电平有效 */ |
| 6041 | motor_DWork.is_XHHY_f = motor_IN_Int2_i; |
| 6042 | motor_DWork.temporalCounter_i1 = 0U; |
| 6043 | |
| 6044 | /* Entry 'Int2': '<S1>:299' */ |
| 6045 | motor_DWork.chu_jd -= 0.002; |
| 6046 | |
| 6047 | /* Inport: '<Root>/JD_In' */ |
| 6048 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 6049 | motor_B.JD_In = motor_U.JD_In; |
| 6050 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 6051 | |
| 6052 | /* Inport: '<Root>/Encode_Sp' */ |
| 6053 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 6054 | |
| 6055 | /* Inport: '<Root>/System_Order' */ |
| 6056 | motor_B.Slect_port = motor_U.System_Order; |
| 6057 | |
| 6058 | /* Inport: '<Root>/SGWY_In' */ |
| 6059 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 6060 | |
| 6061 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 6062 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 6063 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 6064 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 6065 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 6066 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6067 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 6068 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 6069 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 6070 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6071 | &motor_DWork.chu_jd); |
| 6072 | |
| 6073 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 6074 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 6075 | if (tmp_0 < 65536.0) { |
| 6076 | if (tmp_0 >= 0.0) { |
| 6077 | tmp_1 = (uint16_T)tmp_0; |
| 6078 | } else { |
| 6079 | tmp_1 = 0U; |
| 6080 | } |
| 6081 | } else { |
| 6082 | tmp_1 = MAX_uint16_T; |
| 6083 | } |
| 6084 | |
| 6085 | motor_Y.PWMOUT = tmp_1; |
| 6086 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 6087 | if (tmp_0 < 2.147483648E+9) { |
| 6088 | if (tmp_0 >= -2.147483648E+9) { |
| 6089 | tmp = (int32_T)tmp_0; |
| 6090 | } else { |
| 6091 | tmp = MIN_int32_T; |
| 6092 | } |
| 6093 | } else { |
| 6094 | tmp = MAX_int32_T; |
| 6095 | } |
| 6096 | |
| 6097 | motor_Y.JD_Out = tmp; |
| 6098 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 6099 | if (tmp_0 < 2.147483648E+9) { |
| 6100 | if (tmp_0 >= -2.147483648E+9) { |
| 6101 | tmp = (int32_T)tmp_0; |
| 6102 | } else { |
| 6103 | tmp = MIN_int32_T; |
| 6104 | } |
| 6105 | } else { |
| 6106 | tmp = MAX_int32_T; |
| 6107 | } |
| 6108 | |
| 6109 | motor_Y.JD_Error = tmp; |
| 6110 | } else { |
| 6111 | motor_DWork.chu_jd -= 0.01; |
| 6112 | |
| 6113 | /* Inport: '<Root>/JD_In' */ |
| 6114 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 6115 | motor_B.JD_In = motor_U.JD_In; |
| 6116 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 6117 | |
| 6118 | /* Inport: '<Root>/Encode_Sp' */ |
| 6119 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 6120 | |
| 6121 | /* Inport: '<Root>/System_Order' */ |
| 6122 | motor_B.Slect_port = motor_U.System_Order; |
| 6123 | |
| 6124 | /* Inport: '<Root>/SGWY_In' */ |
| 6125 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 6126 | |
| 6127 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 6128 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 6129 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 6130 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 6131 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 6132 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6133 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 6134 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 6135 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 6136 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6137 | &motor_DWork.chu_jd); |
| 6138 | |
| 6139 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 6140 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 6141 | if (tmp_0 < 65536.0) { |
| 6142 | if (tmp_0 >= 0.0) { |
| 6143 | tmp_1 = (uint16_T)tmp_0; |
| 6144 | } else { |
| 6145 | tmp_1 = 0U; |
| 6146 | } |
| 6147 | } else { |
| 6148 | tmp_1 = MAX_uint16_T; |
| 6149 | } |
| 6150 | |
| 6151 | motor_Y.PWMOUT = tmp_1; |
| 6152 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 6153 | if (tmp_0 < 2.147483648E+9) { |
| 6154 | if (tmp_0 >= -2.147483648E+9) { |
| 6155 | tmp = (int32_T)tmp_0; |
| 6156 | } else { |
| 6157 | tmp = MIN_int32_T; |
| 6158 | } |
| 6159 | } else { |
| 6160 | tmp = MAX_int32_T; |
| 6161 | } |
| 6162 | |
| 6163 | motor_Y.JD_Out = tmp; |
| 6164 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 6165 | if (tmp_0 < 2.147483648E+9) { |
| 6166 | if (tmp_0 >= -2.147483648E+9) { |
| 6167 | tmp = (int32_T)tmp_0; |
| 6168 | } else { |
| 6169 | tmp = MIN_int32_T; |
| 6170 | } |
| 6171 | } else { |
| 6172 | tmp = MAX_int32_T; |
| 6173 | } |
| 6174 | |
| 6175 | motor_Y.JD_Error = tmp; |
| 6176 | } |
| 6177 | break; |
| 6178 | } |
| 6179 | break; |
| 6180 | |
| 6181 | default: |
| 6182 | motor_XHZY_as(); |
| 6183 | break; |
| 6184 | } |
| 6185 | } |
| 6186 | |
| 6187 | /* Function for Chart: '<Root>/Chart' */ |
| 6188 | static void motor_XHZY_a(void) |
| 6189 | { |
| 6190 | int32_T tmp; |
| 6191 | uint16_T tmp_0; |
| 6192 | real_T tmp_1; |
| 6193 | |
| 6194 | /* During 'XHZY': '<S1>:257' */ |
| 6195 | switch (motor_DWork.is_XHZY_a) { |
| 6196 | case motor_IN_Int: |
| 6197 | /* During 'Int': '<S1>:259' */ |
| 6198 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 6199 | /* Transition: '<S1>:694' */ |
| 6200 | motor_DWork.is_XHZY_a = motor_IN_Int8; |
| 6201 | } |
| 6202 | break; |
| 6203 | |
| 6204 | case motor_IN_Int1: |
| 6205 | /* Inport: '<Root>/Up_Limit' */ |
| 6206 | /* During 'Int1': '<S1>:260' */ |
| 6207 | if (motor_U.Up_Limit == 0) { |
| 6208 | /* Transition: '<S1>:695' */ |
| 6209 | /* 上限位开关低电平有效 */ |
| 6210 | motor_DWork.is_XHZY_a = motor_IN_Int2_i; |
| 6211 | motor_DWork.temporalCounter_i1 = 0U; |
| 6212 | |
| 6213 | /* Entry 'Int2': '<S1>:261' */ |
| 6214 | motor_DWork.chu_jd += 0.002; |
| 6215 | |
| 6216 | /* Inport: '<Root>/JD_In' */ |
| 6217 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6218 | motor_B.JD_In_d = motor_U.JD_In; |
| 6219 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6220 | |
| 6221 | /* Inport: '<Root>/YJ_In' */ |
| 6222 | motor_B.YJ_In = motor_U.YJ_In; |
| 6223 | |
| 6224 | /* Inport: '<Root>/Encode_Sp' */ |
| 6225 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6226 | |
| 6227 | /* Inport: '<Root>/System_Order' */ |
| 6228 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6229 | |
| 6230 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6231 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6232 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6233 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6234 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6235 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6236 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6237 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6238 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6239 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6240 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6241 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6242 | &motor_DWork.chu_jd); |
| 6243 | |
| 6244 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6245 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6246 | if (tmp_1 < 65536.0) { |
| 6247 | if (tmp_1 >= 0.0) { |
| 6248 | tmp_0 = (uint16_T)tmp_1; |
| 6249 | } else { |
| 6250 | tmp_0 = 0U; |
| 6251 | } |
| 6252 | } else { |
| 6253 | tmp_0 = MAX_uint16_T; |
| 6254 | } |
| 6255 | |
| 6256 | motor_Y.PWMOUT = tmp_0; |
| 6257 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6258 | if (tmp_1 < 2.147483648E+9) { |
| 6259 | if (tmp_1 >= -2.147483648E+9) { |
| 6260 | tmp = (int32_T)tmp_1; |
| 6261 | } else { |
| 6262 | tmp = MIN_int32_T; |
| 6263 | } |
| 6264 | } else { |
| 6265 | tmp = MAX_int32_T; |
| 6266 | } |
| 6267 | |
| 6268 | motor_Y.JD_Out = tmp; |
| 6269 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6270 | if (tmp_1 < 2.147483648E+9) { |
| 6271 | if (tmp_1 >= -2.147483648E+9) { |
| 6272 | tmp = (int32_T)tmp_1; |
| 6273 | } else { |
| 6274 | tmp = MIN_int32_T; |
| 6275 | } |
| 6276 | } else { |
| 6277 | tmp = MAX_int32_T; |
| 6278 | } |
| 6279 | |
| 6280 | motor_Y.JD_Error = tmp; |
| 6281 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6282 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(5.0 / motor_DWork.Ts)) |
| 6283 | { |
| 6284 | /* Transition: '<S1>:1036' */ |
| 6285 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 6286 | |
| 6287 | /* 上限位开关故障$/ */ |
| 6288 | motor_DWork.is_XHZY_a = motor_IN_Int2_i; |
| 6289 | motor_DWork.temporalCounter_i1 = 0U; |
| 6290 | |
| 6291 | /* Entry 'Int2': '<S1>:261' */ |
| 6292 | motor_DWork.chu_jd += 0.002; |
| 6293 | |
| 6294 | /* Inport: '<Root>/JD_In' */ |
| 6295 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6296 | motor_B.JD_In_d = motor_U.JD_In; |
| 6297 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6298 | |
| 6299 | /* Inport: '<Root>/YJ_In' */ |
| 6300 | motor_B.YJ_In = motor_U.YJ_In; |
| 6301 | |
| 6302 | /* Inport: '<Root>/Encode_Sp' */ |
| 6303 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6304 | |
| 6305 | /* Inport: '<Root>/System_Order' */ |
| 6306 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6307 | |
| 6308 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6309 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6310 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6311 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6312 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6313 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6314 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6315 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6316 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6317 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6318 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6319 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6320 | &motor_DWork.chu_jd); |
| 6321 | |
| 6322 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6323 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6324 | if (tmp_1 < 65536.0) { |
| 6325 | if (tmp_1 >= 0.0) { |
| 6326 | tmp_0 = (uint16_T)tmp_1; |
| 6327 | } else { |
| 6328 | tmp_0 = 0U; |
| 6329 | } |
| 6330 | } else { |
| 6331 | tmp_0 = MAX_uint16_T; |
| 6332 | } |
| 6333 | |
| 6334 | motor_Y.PWMOUT = tmp_0; |
| 6335 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6336 | if (tmp_1 < 2.147483648E+9) { |
| 6337 | if (tmp_1 >= -2.147483648E+9) { |
| 6338 | tmp = (int32_T)tmp_1; |
| 6339 | } else { |
| 6340 | tmp = MIN_int32_T; |
| 6341 | } |
| 6342 | } else { |
| 6343 | tmp = MAX_int32_T; |
| 6344 | } |
| 6345 | |
| 6346 | motor_Y.JD_Out = tmp; |
| 6347 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6348 | if (tmp_1 < 2.147483648E+9) { |
| 6349 | if (tmp_1 >= -2.147483648E+9) { |
| 6350 | tmp = (int32_T)tmp_1; |
| 6351 | } else { |
| 6352 | tmp = MIN_int32_T; |
| 6353 | } |
| 6354 | } else { |
| 6355 | tmp = MAX_int32_T; |
| 6356 | } |
| 6357 | |
| 6358 | motor_Y.JD_Error = tmp; |
| 6359 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6360 | } else { |
| 6361 | motor_DWork.chu_jd += 0.002; |
| 6362 | |
| 6363 | /* Inport: '<Root>/JD_In' */ |
| 6364 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6365 | motor_B.JD_In_d = motor_U.JD_In; |
| 6366 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6367 | |
| 6368 | /* Inport: '<Root>/YJ_In' */ |
| 6369 | motor_B.YJ_In = motor_U.YJ_In; |
| 6370 | |
| 6371 | /* Inport: '<Root>/Encode_Sp' */ |
| 6372 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6373 | |
| 6374 | /* Inport: '<Root>/System_Order' */ |
| 6375 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6376 | |
| 6377 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6378 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6379 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6380 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6381 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6382 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6383 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6384 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6385 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6386 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6387 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6388 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6389 | &motor_DWork.chu_jd); |
| 6390 | |
| 6391 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6392 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6393 | if (tmp_1 < 65536.0) { |
| 6394 | if (tmp_1 >= 0.0) { |
| 6395 | tmp_0 = (uint16_T)tmp_1; |
| 6396 | } else { |
| 6397 | tmp_0 = 0U; |
| 6398 | } |
| 6399 | } else { |
| 6400 | tmp_0 = MAX_uint16_T; |
| 6401 | } |
| 6402 | |
| 6403 | motor_Y.PWMOUT = tmp_0; |
| 6404 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6405 | if (tmp_1 < 2.147483648E+9) { |
| 6406 | if (tmp_1 >= -2.147483648E+9) { |
| 6407 | tmp = (int32_T)tmp_1; |
| 6408 | } else { |
| 6409 | tmp = MIN_int32_T; |
| 6410 | } |
| 6411 | } else { |
| 6412 | tmp = MAX_int32_T; |
| 6413 | } |
| 6414 | |
| 6415 | motor_Y.JD_Out = tmp; |
| 6416 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6417 | if (tmp_1 < 2.147483648E+9) { |
| 6418 | if (tmp_1 >= -2.147483648E+9) { |
| 6419 | tmp = (int32_T)tmp_1; |
| 6420 | } else { |
| 6421 | tmp = MIN_int32_T; |
| 6422 | } |
| 6423 | } else { |
| 6424 | tmp = MAX_int32_T; |
| 6425 | } |
| 6426 | |
| 6427 | motor_Y.JD_Error = tmp; |
| 6428 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6429 | } |
| 6430 | |
| 6431 | /* End of Inport: '<Root>/Up_Limit' */ |
| 6432 | break; |
| 6433 | |
| 6434 | case motor_IN_Int2_i: |
| 6435 | /* During 'Int2': '<S1>:261' */ |
| 6436 | if (motor_DWork.temporalCounter_i1 >= 50U) { |
| 6437 | /* Transition: '<S1>:697' */ |
| 6438 | motor_DWork.is_XHZY_a = motor_IN_Int7; |
| 6439 | motor_DWork.temporalCounter_i1 = 0U; |
| 6440 | } else { |
| 6441 | motor_DWork.chu_jd += 0.002; |
| 6442 | |
| 6443 | /* Inport: '<Root>/JD_In' */ |
| 6444 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6445 | motor_B.JD_In_d = motor_U.JD_In; |
| 6446 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6447 | |
| 6448 | /* Inport: '<Root>/YJ_In' */ |
| 6449 | motor_B.YJ_In = motor_U.YJ_In; |
| 6450 | |
| 6451 | /* Inport: '<Root>/Encode_Sp' */ |
| 6452 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6453 | |
| 6454 | /* Inport: '<Root>/System_Order' */ |
| 6455 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6456 | |
| 6457 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6458 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6459 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6460 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6461 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6462 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6463 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6464 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6465 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6466 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6467 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6468 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6469 | &motor_DWork.chu_jd); |
| 6470 | |
| 6471 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6472 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6473 | if (tmp_1 < 65536.0) { |
| 6474 | if (tmp_1 >= 0.0) { |
| 6475 | tmp_0 = (uint16_T)tmp_1; |
| 6476 | } else { |
| 6477 | tmp_0 = 0U; |
| 6478 | } |
| 6479 | } else { |
| 6480 | tmp_0 = MAX_uint16_T; |
| 6481 | } |
| 6482 | |
| 6483 | motor_Y.PWMOUT = tmp_0; |
| 6484 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6485 | if (tmp_1 < 2.147483648E+9) { |
| 6486 | if (tmp_1 >= -2.147483648E+9) { |
| 6487 | tmp = (int32_T)tmp_1; |
| 6488 | } else { |
| 6489 | tmp = MIN_int32_T; |
| 6490 | } |
| 6491 | } else { |
| 6492 | tmp = MAX_int32_T; |
| 6493 | } |
| 6494 | |
| 6495 | motor_Y.JD_Out = tmp; |
| 6496 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6497 | if (tmp_1 < 2.147483648E+9) { |
| 6498 | if (tmp_1 >= -2.147483648E+9) { |
| 6499 | tmp = (int32_T)tmp_1; |
| 6500 | } else { |
| 6501 | tmp = MIN_int32_T; |
| 6502 | } |
| 6503 | } else { |
| 6504 | tmp = MAX_int32_T; |
| 6505 | } |
| 6506 | |
| 6507 | motor_Y.JD_Error = tmp; |
| 6508 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6509 | } |
| 6510 | break; |
| 6511 | |
| 6512 | case motor_IN_Int3_l: |
| 6513 | /* During 'Int3': '<S1>:262' */ |
| 6514 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 6515 | /* Transition: '<S1>:698' */ |
| 6516 | motor_DWork.is_XHZY_a = motor_IN_Int4_b; |
| 6517 | motor_DWork.temporalCounter_i1 = 0U; |
| 6518 | |
| 6519 | /* Entry 'Int4': '<S1>:263' */ |
| 6520 | motor_DWork.chu_jd = 0.0; |
| 6521 | |
| 6522 | /* Inport: '<Root>/JD_In' */ |
| 6523 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6524 | motor_B.JD_In_d = motor_U.JD_In; |
| 6525 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6526 | |
| 6527 | /* Inport: '<Root>/YJ_In' */ |
| 6528 | motor_B.YJ_In = motor_U.YJ_In; |
| 6529 | |
| 6530 | /* Inport: '<Root>/Encode_Sp' */ |
| 6531 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6532 | |
| 6533 | /* Inport: '<Root>/System_Order' */ |
| 6534 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6535 | |
| 6536 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6537 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6538 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6539 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6540 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6541 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6542 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6543 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6544 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6545 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6546 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6547 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6548 | &motor_DWork.chu_jd); |
| 6549 | |
| 6550 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6551 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6552 | if (tmp_1 < 65536.0) { |
| 6553 | if (tmp_1 >= 0.0) { |
| 6554 | tmp_0 = (uint16_T)tmp_1; |
| 6555 | } else { |
| 6556 | tmp_0 = 0U; |
| 6557 | } |
| 6558 | } else { |
| 6559 | tmp_0 = MAX_uint16_T; |
| 6560 | } |
| 6561 | |
| 6562 | motor_Y.PWMOUT = tmp_0; |
| 6563 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6564 | if (tmp_1 < 2.147483648E+9) { |
| 6565 | if (tmp_1 >= -2.147483648E+9) { |
| 6566 | tmp = (int32_T)tmp_1; |
| 6567 | } else { |
| 6568 | tmp = MIN_int32_T; |
| 6569 | } |
| 6570 | } else { |
| 6571 | tmp = MAX_int32_T; |
| 6572 | } |
| 6573 | |
| 6574 | motor_Y.JD_Out = tmp; |
| 6575 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6576 | if (tmp_1 < 2.147483648E+9) { |
| 6577 | if (tmp_1 >= -2.147483648E+9) { |
| 6578 | tmp = (int32_T)tmp_1; |
| 6579 | } else { |
| 6580 | tmp = MIN_int32_T; |
| 6581 | } |
| 6582 | } else { |
| 6583 | tmp = MAX_int32_T; |
| 6584 | } |
| 6585 | |
| 6586 | motor_Y.JD_Error = tmp; |
| 6587 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6588 | } else { |
| 6589 | motor_DWork.chu_jd -= 0.01; |
| 6590 | |
| 6591 | /* Inport: '<Root>/JD_In' */ |
| 6592 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6593 | motor_B.JD_In_d = motor_U.JD_In; |
| 6594 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6595 | |
| 6596 | /* Inport: '<Root>/YJ_In' */ |
| 6597 | motor_B.YJ_In = motor_U.YJ_In; |
| 6598 | |
| 6599 | /* Inport: '<Root>/Encode_Sp' */ |
| 6600 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6601 | |
| 6602 | /* Inport: '<Root>/System_Order' */ |
| 6603 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6604 | |
| 6605 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6606 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6607 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6608 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6609 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6610 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6611 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6612 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6613 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6614 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6615 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6616 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6617 | &motor_DWork.chu_jd); |
| 6618 | |
| 6619 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6620 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6621 | if (tmp_1 < 65536.0) { |
| 6622 | if (tmp_1 >= 0.0) { |
| 6623 | tmp_0 = (uint16_T)tmp_1; |
| 6624 | } else { |
| 6625 | tmp_0 = 0U; |
| 6626 | } |
| 6627 | } else { |
| 6628 | tmp_0 = MAX_uint16_T; |
| 6629 | } |
| 6630 | |
| 6631 | motor_Y.PWMOUT = tmp_0; |
| 6632 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6633 | if (tmp_1 < 2.147483648E+9) { |
| 6634 | if (tmp_1 >= -2.147483648E+9) { |
| 6635 | tmp = (int32_T)tmp_1; |
| 6636 | } else { |
| 6637 | tmp = MIN_int32_T; |
| 6638 | } |
| 6639 | } else { |
| 6640 | tmp = MAX_int32_T; |
| 6641 | } |
| 6642 | |
| 6643 | motor_Y.JD_Out = tmp; |
| 6644 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6645 | if (tmp_1 < 2.147483648E+9) { |
| 6646 | if (tmp_1 >= -2.147483648E+9) { |
| 6647 | tmp = (int32_T)tmp_1; |
| 6648 | } else { |
| 6649 | tmp = MIN_int32_T; |
| 6650 | } |
| 6651 | } else { |
| 6652 | tmp = MAX_int32_T; |
| 6653 | } |
| 6654 | |
| 6655 | motor_Y.JD_Error = tmp; |
| 6656 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6657 | } |
| 6658 | break; |
| 6659 | |
| 6660 | case motor_IN_Int4_b: |
| 6661 | /* During 'Int4': '<S1>:263' */ |
| 6662 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 6663 | /* Transition: '<S1>:700' */ |
| 6664 | motor_DWork.is_XHZY_a = motor_IN_Int5_a; |
| 6665 | motor_DWork.temporalCounter_i1 = 0U; |
| 6666 | |
| 6667 | /* Entry 'Int5': '<S1>:264' */ |
| 6668 | motor_Y.Motor_En = true; |
| 6669 | |
| 6670 | /* 电机失能 */ |
| 6671 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 6672 | } else { |
| 6673 | /* Inport: '<Root>/JD_In' */ |
| 6674 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6675 | motor_B.JD_In_d = motor_U.JD_In; |
| 6676 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6677 | |
| 6678 | /* Inport: '<Root>/YJ_In' */ |
| 6679 | motor_B.YJ_In = motor_U.YJ_In; |
| 6680 | |
| 6681 | /* Inport: '<Root>/Encode_Sp' */ |
| 6682 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6683 | |
| 6684 | /* Inport: '<Root>/System_Order' */ |
| 6685 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6686 | |
| 6687 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6688 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6689 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6690 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6691 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6692 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6693 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6694 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6695 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6696 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6697 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6698 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6699 | &motor_DWork.chu_jd); |
| 6700 | |
| 6701 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6702 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6703 | if (tmp_1 < 65536.0) { |
| 6704 | if (tmp_1 >= 0.0) { |
| 6705 | tmp_0 = (uint16_T)tmp_1; |
| 6706 | } else { |
| 6707 | tmp_0 = 0U; |
| 6708 | } |
| 6709 | } else { |
| 6710 | tmp_0 = MAX_uint16_T; |
| 6711 | } |
| 6712 | |
| 6713 | motor_Y.PWMOUT = tmp_0; |
| 6714 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6715 | if (tmp_1 < 2.147483648E+9) { |
| 6716 | if (tmp_1 >= -2.147483648E+9) { |
| 6717 | tmp = (int32_T)tmp_1; |
| 6718 | } else { |
| 6719 | tmp = MIN_int32_T; |
| 6720 | } |
| 6721 | } else { |
| 6722 | tmp = MAX_int32_T; |
| 6723 | } |
| 6724 | |
| 6725 | motor_Y.JD_Out = tmp; |
| 6726 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6727 | if (tmp_1 < 2.147483648E+9) { |
| 6728 | if (tmp_1 >= -2.147483648E+9) { |
| 6729 | tmp = (int32_T)tmp_1; |
| 6730 | } else { |
| 6731 | tmp = MIN_int32_T; |
| 6732 | } |
| 6733 | } else { |
| 6734 | tmp = MAX_int32_T; |
| 6735 | } |
| 6736 | |
| 6737 | motor_Y.JD_Error = tmp; |
| 6738 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6739 | } |
| 6740 | break; |
| 6741 | |
| 6742 | case motor_IN_Int5_a: |
| 6743 | /* During 'Int5': '<S1>:264' */ |
| 6744 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 6745 | /* Transition: '<S1>:699' */ |
| 6746 | motor_DWork.is_XHZY_a = motor_IN_Int6_m; |
| 6747 | |
| 6748 | /* Entry 'Int6': '<S1>:265' */ |
| 6749 | motor_Y.DCZD = true; |
| 6750 | |
| 6751 | /* 开启制动 */ |
| 6752 | } |
| 6753 | break; |
| 6754 | |
| 6755 | case motor_IN_Int6_m: |
| 6756 | /* During 'Int6': '<S1>:265' */ |
| 6757 | /* Transition: '<S1>:696' */ |
| 6758 | /* Transition: '<S1>:663' */ |
| 6759 | motor_DWork.is_XHZY_a = motor_IN_NO_ACTIVE_CHILD; |
| 6760 | motor_DWork.is_Limit_Up_Test = motor_IN_NO_ACTIVE_CHILD; |
| 6761 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 6762 | |
| 6763 | /* Entry 'defult': '<S1>:239' */ |
| 6764 | motor_Y.Open_Result = 1U; |
| 6765 | |
| 6766 | /* 开机状态位成功 */ |
| 6767 | motor_DWork.In_State = 2U; |
| 6768 | break; |
| 6769 | |
| 6770 | case motor_IN_Int7: |
| 6771 | /* During 'Int7': '<S1>:967' */ |
| 6772 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 6773 | /* Transition: '<S1>:968' */ |
| 6774 | motor_DWork.is_XHZY_a = motor_IN_Int3_l; |
| 6775 | |
| 6776 | /* Entry 'Int3': '<S1>:262' */ |
| 6777 | motor_DWork.chu_jd -= 0.01; |
| 6778 | |
| 6779 | /* Inport: '<Root>/JD_In' */ |
| 6780 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6781 | motor_B.JD_In_d = motor_U.JD_In; |
| 6782 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6783 | |
| 6784 | /* Inport: '<Root>/YJ_In' */ |
| 6785 | motor_B.YJ_In = motor_U.YJ_In; |
| 6786 | |
| 6787 | /* Inport: '<Root>/Encode_Sp' */ |
| 6788 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6789 | |
| 6790 | /* Inport: '<Root>/System_Order' */ |
| 6791 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6792 | |
| 6793 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6794 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6795 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6796 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6797 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6798 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6799 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6800 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6801 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6802 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6803 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6804 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6805 | &motor_DWork.chu_jd); |
| 6806 | |
| 6807 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6808 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6809 | if (tmp_1 < 65536.0) { |
| 6810 | if (tmp_1 >= 0.0) { |
| 6811 | tmp_0 = (uint16_T)tmp_1; |
| 6812 | } else { |
| 6813 | tmp_0 = 0U; |
| 6814 | } |
| 6815 | } else { |
| 6816 | tmp_0 = MAX_uint16_T; |
| 6817 | } |
| 6818 | |
| 6819 | motor_Y.PWMOUT = tmp_0; |
| 6820 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6821 | if (tmp_1 < 2.147483648E+9) { |
| 6822 | if (tmp_1 >= -2.147483648E+9) { |
| 6823 | tmp = (int32_T)tmp_1; |
| 6824 | } else { |
| 6825 | tmp = MIN_int32_T; |
| 6826 | } |
| 6827 | } else { |
| 6828 | tmp = MAX_int32_T; |
| 6829 | } |
| 6830 | |
| 6831 | motor_Y.JD_Out = tmp; |
| 6832 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6833 | if (tmp_1 < 2.147483648E+9) { |
| 6834 | if (tmp_1 >= -2.147483648E+9) { |
| 6835 | tmp = (int32_T)tmp_1; |
| 6836 | } else { |
| 6837 | tmp = MIN_int32_T; |
| 6838 | } |
| 6839 | } else { |
| 6840 | tmp = MAX_int32_T; |
| 6841 | } |
| 6842 | |
| 6843 | motor_Y.JD_Error = tmp; |
| 6844 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6845 | } else { |
| 6846 | /* Inport: '<Root>/JD_In' */ |
| 6847 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6848 | motor_B.JD_In_d = motor_U.JD_In; |
| 6849 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6850 | |
| 6851 | /* Inport: '<Root>/YJ_In' */ |
| 6852 | motor_B.YJ_In = motor_U.YJ_In; |
| 6853 | |
| 6854 | /* Inport: '<Root>/Encode_Sp' */ |
| 6855 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6856 | |
| 6857 | /* Inport: '<Root>/System_Order' */ |
| 6858 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6859 | |
| 6860 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6861 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6862 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6863 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6864 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6865 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6866 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6867 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6868 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6869 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6870 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6871 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6872 | &motor_DWork.chu_jd); |
| 6873 | |
| 6874 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6875 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6876 | if (tmp_1 < 65536.0) { |
| 6877 | if (tmp_1 >= 0.0) { |
| 6878 | tmp_0 = (uint16_T)tmp_1; |
| 6879 | } else { |
| 6880 | tmp_0 = 0U; |
| 6881 | } |
| 6882 | } else { |
| 6883 | tmp_0 = MAX_uint16_T; |
| 6884 | } |
| 6885 | |
| 6886 | motor_Y.PWMOUT = tmp_0; |
| 6887 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6888 | if (tmp_1 < 2.147483648E+9) { |
| 6889 | if (tmp_1 >= -2.147483648E+9) { |
| 6890 | tmp = (int32_T)tmp_1; |
| 6891 | } else { |
| 6892 | tmp = MIN_int32_T; |
| 6893 | } |
| 6894 | } else { |
| 6895 | tmp = MAX_int32_T; |
| 6896 | } |
| 6897 | |
| 6898 | motor_Y.JD_Out = tmp; |
| 6899 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6900 | if (tmp_1 < 2.147483648E+9) { |
| 6901 | if (tmp_1 >= -2.147483648E+9) { |
| 6902 | tmp = (int32_T)tmp_1; |
| 6903 | } else { |
| 6904 | tmp = MIN_int32_T; |
| 6905 | } |
| 6906 | } else { |
| 6907 | tmp = MAX_int32_T; |
| 6908 | } |
| 6909 | |
| 6910 | motor_Y.JD_Error = tmp; |
| 6911 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6912 | } |
| 6913 | break; |
| 6914 | |
| 6915 | default: |
| 6916 | /* During 'Int8': '<S1>:986' */ |
| 6917 | if (motor_DWork.chu_jd > 16.0) { |
| 6918 | /* Transition: '<S1>:987' */ |
| 6919 | motor_DWork.is_XHZY_a = motor_IN_Int1; |
| 6920 | motor_DWork.temporalCounter_i1 = 0U; |
| 6921 | |
| 6922 | /* Entry 'Int1': '<S1>:260' */ |
| 6923 | motor_DWork.chu_jd += 0.002; |
| 6924 | |
| 6925 | /* Inport: '<Root>/JD_In' */ |
| 6926 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 6927 | motor_B.JD_In_d = motor_U.JD_In; |
| 6928 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 6929 | |
| 6930 | /* Inport: '<Root>/YJ_In' */ |
| 6931 | motor_B.YJ_In = motor_U.YJ_In; |
| 6932 | |
| 6933 | /* Inport: '<Root>/Encode_Sp' */ |
| 6934 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 6935 | |
| 6936 | /* Inport: '<Root>/System_Order' */ |
| 6937 | motor_B.Slect_port_h = motor_U.System_Order; |
| 6938 | |
| 6939 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 6940 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 6941 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 6942 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 6943 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 6944 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 6945 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 6946 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 6947 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 6948 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 6949 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 6950 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 6951 | &motor_DWork.chu_jd); |
| 6952 | |
| 6953 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 6954 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 6955 | if (tmp_1 < 65536.0) { |
| 6956 | if (tmp_1 >= 0.0) { |
| 6957 | tmp_0 = (uint16_T)tmp_1; |
| 6958 | } else { |
| 6959 | tmp_0 = 0U; |
| 6960 | } |
| 6961 | } else { |
| 6962 | tmp_0 = MAX_uint16_T; |
| 6963 | } |
| 6964 | |
| 6965 | motor_Y.PWMOUT = tmp_0; |
| 6966 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 6967 | if (tmp_1 < 2.147483648E+9) { |
| 6968 | if (tmp_1 >= -2.147483648E+9) { |
| 6969 | tmp = (int32_T)tmp_1; |
| 6970 | } else { |
| 6971 | tmp = MIN_int32_T; |
| 6972 | } |
| 6973 | } else { |
| 6974 | tmp = MAX_int32_T; |
| 6975 | } |
| 6976 | |
| 6977 | motor_Y.JD_Out = tmp; |
| 6978 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 6979 | if (tmp_1 < 2.147483648E+9) { |
| 6980 | if (tmp_1 >= -2.147483648E+9) { |
| 6981 | tmp = (int32_T)tmp_1; |
| 6982 | } else { |
| 6983 | tmp = MIN_int32_T; |
| 6984 | } |
| 6985 | } else { |
| 6986 | tmp = MAX_int32_T; |
| 6987 | } |
| 6988 | |
| 6989 | motor_Y.JD_Error = tmp; |
| 6990 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 6991 | } else if (motor_U.Up_Limit == 0) { |
| 6992 | /* Transition: '<S1>:1002' */ |
| 6993 | /* 上限位开关低电平有效 */ |
| 6994 | motor_DWork.is_XHZY_a = motor_IN_Int2_i; |
| 6995 | motor_DWork.temporalCounter_i1 = 0U; |
| 6996 | |
| 6997 | /* Entry 'Int2': '<S1>:261' */ |
| 6998 | motor_DWork.chu_jd += 0.002; |
| 6999 | |
| 7000 | /* Inport: '<Root>/JD_In' */ |
| 7001 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 7002 | motor_B.JD_In_d = motor_U.JD_In; |
| 7003 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 7004 | |
| 7005 | /* Inport: '<Root>/YJ_In' */ |
| 7006 | motor_B.YJ_In = motor_U.YJ_In; |
| 7007 | |
| 7008 | /* Inport: '<Root>/Encode_Sp' */ |
| 7009 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 7010 | |
| 7011 | /* Inport: '<Root>/System_Order' */ |
| 7012 | motor_B.Slect_port_h = motor_U.System_Order; |
| 7013 | |
| 7014 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 7015 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 7016 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 7017 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 7018 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 7019 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 7020 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 7021 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 7022 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 7023 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 7024 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 7025 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 7026 | &motor_DWork.chu_jd); |
| 7027 | |
| 7028 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 7029 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 7030 | if (tmp_1 < 65536.0) { |
| 7031 | if (tmp_1 >= 0.0) { |
| 7032 | tmp_0 = (uint16_T)tmp_1; |
| 7033 | } else { |
| 7034 | tmp_0 = 0U; |
| 7035 | } |
| 7036 | } else { |
| 7037 | tmp_0 = MAX_uint16_T; |
| 7038 | } |
| 7039 | |
| 7040 | motor_Y.PWMOUT = tmp_0; |
| 7041 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 7042 | if (tmp_1 < 2.147483648E+9) { |
| 7043 | if (tmp_1 >= -2.147483648E+9) { |
| 7044 | tmp = (int32_T)tmp_1; |
| 7045 | } else { |
| 7046 | tmp = MIN_int32_T; |
| 7047 | } |
| 7048 | } else { |
| 7049 | tmp = MAX_int32_T; |
| 7050 | } |
| 7051 | |
| 7052 | motor_Y.JD_Out = tmp; |
| 7053 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 7054 | if (tmp_1 < 2.147483648E+9) { |
| 7055 | if (tmp_1 >= -2.147483648E+9) { |
| 7056 | tmp = (int32_T)tmp_1; |
| 7057 | } else { |
| 7058 | tmp = MIN_int32_T; |
| 7059 | } |
| 7060 | } else { |
| 7061 | tmp = MAX_int32_T; |
| 7062 | } |
| 7063 | |
| 7064 | motor_Y.JD_Error = tmp; |
| 7065 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 7066 | } else { |
| 7067 | motor_DWork.chu_jd += 0.01; |
| 7068 | |
| 7069 | /* Inport: '<Root>/JD_In' */ |
| 7070 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 7071 | motor_B.JD_In_d = motor_U.JD_In; |
| 7072 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 7073 | |
| 7074 | /* Inport: '<Root>/YJ_In' */ |
| 7075 | motor_B.YJ_In = motor_U.YJ_In; |
| 7076 | |
| 7077 | /* Inport: '<Root>/Encode_Sp' */ |
| 7078 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 7079 | |
| 7080 | /* Inport: '<Root>/System_Order' */ |
| 7081 | motor_B.Slect_port_h = motor_U.System_Order; |
| 7082 | |
| 7083 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 7084 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 7085 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 7086 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 7087 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 7088 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 7089 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 7090 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 7091 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 7092 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 7093 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 7094 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 7095 | &motor_DWork.chu_jd); |
| 7096 | |
| 7097 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 7098 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 7099 | if (tmp_1 < 65536.0) { |
| 7100 | if (tmp_1 >= 0.0) { |
| 7101 | tmp_0 = (uint16_T)tmp_1; |
| 7102 | } else { |
| 7103 | tmp_0 = 0U; |
| 7104 | } |
| 7105 | } else { |
| 7106 | tmp_0 = MAX_uint16_T; |
| 7107 | } |
| 7108 | |
| 7109 | motor_Y.PWMOUT = tmp_0; |
| 7110 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 7111 | if (tmp_1 < 2.147483648E+9) { |
| 7112 | if (tmp_1 >= -2.147483648E+9) { |
| 7113 | tmp = (int32_T)tmp_1; |
| 7114 | } else { |
| 7115 | tmp = MIN_int32_T; |
| 7116 | } |
| 7117 | } else { |
| 7118 | tmp = MAX_int32_T; |
| 7119 | } |
| 7120 | |
| 7121 | motor_Y.JD_Out = tmp; |
| 7122 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 7123 | if (tmp_1 < 2.147483648E+9) { |
| 7124 | if (tmp_1 >= -2.147483648E+9) { |
| 7125 | tmp = (int32_T)tmp_1; |
| 7126 | } else { |
| 7127 | tmp = MIN_int32_T; |
| 7128 | } |
| 7129 | } else { |
| 7130 | tmp = MAX_int32_T; |
| 7131 | } |
| 7132 | |
| 7133 | motor_Y.JD_Error = tmp; |
| 7134 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 7135 | } |
| 7136 | break; |
| 7137 | } |
| 7138 | } |
| 7139 | |
| 7140 | /* Function for Chart: '<Root>/Chart' */ |
| 7141 | static void motor_Limit_Up_Test(void) |
| 7142 | { |
| 7143 | int32_T tmp; |
| 7144 | real_T tmp_0; |
| 7145 | uint16_T tmp_1; |
| 7146 | |
| 7147 | /* During 'Limit_Up_Test': '<S1>:238' */ |
| 7148 | switch (motor_DWork.is_Limit_Up_Test) { |
| 7149 | case motor_IN_HY_f: |
| 7150 | /* During 'HY': '<S1>:258' */ |
| 7151 | switch (motor_DWork.is_HY_a) { |
| 7152 | case motor_IN_Int: |
| 7153 | /* During 'Int': '<S1>:275' */ |
| 7154 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 7155 | /* Transition: '<S1>:702' */ |
| 7156 | motor_DWork.is_HY_a = motor_IN_Int8; |
| 7157 | } |
| 7158 | break; |
| 7159 | |
| 7160 | case motor_IN_Int1: |
| 7161 | /* Inport: '<Root>/Up_Limit' */ |
| 7162 | /* During 'Int1': '<S1>:278' */ |
| 7163 | if (motor_U.Up_Limit == 0) { |
| 7164 | /* Transition: '<S1>:703' */ |
| 7165 | /* 上限位开关低电平有效 */ |
| 7166 | motor_DWork.is_HY_a = motor_IN_Int2_i; |
| 7167 | motor_DWork.temporalCounter_i1 = 0U; |
| 7168 | |
| 7169 | /* Entry 'Int2': '<S1>:279' */ |
| 7170 | motor_DWork.chu_jd += 0.002; |
| 7171 | |
| 7172 | /* Inport: '<Root>/JD_In' */ |
| 7173 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7174 | motor_B.JD_In_f = motor_U.JD_In; |
| 7175 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7176 | |
| 7177 | /* Inport: '<Root>/System_Order' */ |
| 7178 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7179 | |
| 7180 | /* Inport: '<Root>/Encode_Sp' */ |
| 7181 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7182 | |
| 7183 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7184 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7185 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7186 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7187 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7188 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7189 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7190 | &motor_DWork.chu_jd); |
| 7191 | |
| 7192 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7193 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7194 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7195 | if (tmp_0 < 2.147483648E+9) { |
| 7196 | if (tmp_0 >= -2.147483648E+9) { |
| 7197 | tmp = (int32_T)tmp_0; |
| 7198 | } else { |
| 7199 | tmp = MIN_int32_T; |
| 7200 | } |
| 7201 | } else { |
| 7202 | tmp = MAX_int32_T; |
| 7203 | } |
| 7204 | |
| 7205 | motor_Y.JD_Error = tmp; |
| 7206 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7207 | if (tmp_0 < 2.147483648E+9) { |
| 7208 | if (tmp_0 >= -2.147483648E+9) { |
| 7209 | tmp = (int32_T)tmp_0; |
| 7210 | } else { |
| 7211 | tmp = MIN_int32_T; |
| 7212 | } |
| 7213 | } else { |
| 7214 | tmp = MAX_int32_T; |
| 7215 | } |
| 7216 | |
| 7217 | motor_Y.JD_Out = tmp; |
| 7218 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(7.0 / |
| 7219 | motor_DWork.Ts)) { |
| 7220 | /* Transition: '<S1>:1037' */ |
| 7221 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 7222 | |
| 7223 | /* 上限位开关故障$/ */ |
| 7224 | motor_DWork.is_HY_a = motor_IN_Int2_i; |
| 7225 | motor_DWork.temporalCounter_i1 = 0U; |
| 7226 | |
| 7227 | /* Entry 'Int2': '<S1>:279' */ |
| 7228 | motor_DWork.chu_jd += 0.002; |
| 7229 | |
| 7230 | /* Inport: '<Root>/JD_In' */ |
| 7231 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7232 | motor_B.JD_In_f = motor_U.JD_In; |
| 7233 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7234 | |
| 7235 | /* Inport: '<Root>/System_Order' */ |
| 7236 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7237 | |
| 7238 | /* Inport: '<Root>/Encode_Sp' */ |
| 7239 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7240 | |
| 7241 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7242 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7243 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7244 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7245 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7246 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7247 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7248 | &motor_DWork.chu_jd); |
| 7249 | |
| 7250 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7251 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7252 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7253 | if (tmp_0 < 2.147483648E+9) { |
| 7254 | if (tmp_0 >= -2.147483648E+9) { |
| 7255 | tmp = (int32_T)tmp_0; |
| 7256 | } else { |
| 7257 | tmp = MIN_int32_T; |
| 7258 | } |
| 7259 | } else { |
| 7260 | tmp = MAX_int32_T; |
| 7261 | } |
| 7262 | |
| 7263 | motor_Y.JD_Error = tmp; |
| 7264 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7265 | if (tmp_0 < 2.147483648E+9) { |
| 7266 | if (tmp_0 >= -2.147483648E+9) { |
| 7267 | tmp = (int32_T)tmp_0; |
| 7268 | } else { |
| 7269 | tmp = MIN_int32_T; |
| 7270 | } |
| 7271 | } else { |
| 7272 | tmp = MAX_int32_T; |
| 7273 | } |
| 7274 | |
| 7275 | motor_Y.JD_Out = tmp; |
| 7276 | } else { |
| 7277 | motor_DWork.chu_jd += 0.002; |
| 7278 | |
| 7279 | /* Inport: '<Root>/JD_In' */ |
| 7280 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7281 | motor_B.JD_In_f = motor_U.JD_In; |
| 7282 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7283 | |
| 7284 | /* Inport: '<Root>/System_Order' */ |
| 7285 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7286 | |
| 7287 | /* Inport: '<Root>/Encode_Sp' */ |
| 7288 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7289 | |
| 7290 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7291 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7292 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7293 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7294 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7295 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7296 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7297 | &motor_DWork.chu_jd); |
| 7298 | |
| 7299 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7300 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7301 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7302 | if (tmp_0 < 2.147483648E+9) { |
| 7303 | if (tmp_0 >= -2.147483648E+9) { |
| 7304 | tmp = (int32_T)tmp_0; |
| 7305 | } else { |
| 7306 | tmp = MIN_int32_T; |
| 7307 | } |
| 7308 | } else { |
| 7309 | tmp = MAX_int32_T; |
| 7310 | } |
| 7311 | |
| 7312 | motor_Y.JD_Error = tmp; |
| 7313 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7314 | if (tmp_0 < 2.147483648E+9) { |
| 7315 | if (tmp_0 >= -2.147483648E+9) { |
| 7316 | tmp = (int32_T)tmp_0; |
| 7317 | } else { |
| 7318 | tmp = MIN_int32_T; |
| 7319 | } |
| 7320 | } else { |
| 7321 | tmp = MAX_int32_T; |
| 7322 | } |
| 7323 | |
| 7324 | motor_Y.JD_Out = tmp; |
| 7325 | } |
| 7326 | break; |
| 7327 | |
| 7328 | case motor_IN_Int2_i: |
| 7329 | /* During 'Int2': '<S1>:279' */ |
| 7330 | if (motor_DWork.temporalCounter_i1 >= 50U) { |
| 7331 | /* Transition: '<S1>:705' */ |
| 7332 | motor_DWork.is_HY_a = motor_IN_Int7; |
| 7333 | motor_DWork.temporalCounter_i1 = 0U; |
| 7334 | } else { |
| 7335 | motor_DWork.chu_jd += 0.002; |
| 7336 | |
| 7337 | /* Inport: '<Root>/JD_In' */ |
| 7338 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7339 | motor_B.JD_In_f = motor_U.JD_In; |
| 7340 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7341 | |
| 7342 | /* Inport: '<Root>/System_Order' */ |
| 7343 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7344 | |
| 7345 | /* Inport: '<Root>/Encode_Sp' */ |
| 7346 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7347 | |
| 7348 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7349 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7350 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7351 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7352 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7353 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7354 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7355 | &motor_DWork.chu_jd); |
| 7356 | |
| 7357 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7358 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7359 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7360 | if (tmp_0 < 2.147483648E+9) { |
| 7361 | if (tmp_0 >= -2.147483648E+9) { |
| 7362 | tmp = (int32_T)tmp_0; |
| 7363 | } else { |
| 7364 | tmp = MIN_int32_T; |
| 7365 | } |
| 7366 | } else { |
| 7367 | tmp = MAX_int32_T; |
| 7368 | } |
| 7369 | |
| 7370 | motor_Y.JD_Error = tmp; |
| 7371 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7372 | if (tmp_0 < 2.147483648E+9) { |
| 7373 | if (tmp_0 >= -2.147483648E+9) { |
| 7374 | tmp = (int32_T)tmp_0; |
| 7375 | } else { |
| 7376 | tmp = MIN_int32_T; |
| 7377 | } |
| 7378 | } else { |
| 7379 | tmp = MAX_int32_T; |
| 7380 | } |
| 7381 | |
| 7382 | motor_Y.JD_Out = tmp; |
| 7383 | } |
| 7384 | break; |
| 7385 | |
| 7386 | case motor_IN_Int3_l: |
| 7387 | /* During 'Int3': '<S1>:274' */ |
| 7388 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 7389 | /* Transition: '<S1>:706' */ |
| 7390 | motor_DWork.is_HY_a = motor_IN_Int4_b; |
| 7391 | motor_DWork.temporalCounter_i1 = 0U; |
| 7392 | |
| 7393 | /* Entry 'Int4': '<S1>:277' */ |
| 7394 | motor_DWork.chu_jd = 0.0; |
| 7395 | |
| 7396 | /* Inport: '<Root>/JD_In' */ |
| 7397 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7398 | motor_B.JD_In_f = motor_U.JD_In; |
| 7399 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7400 | |
| 7401 | /* Inport: '<Root>/System_Order' */ |
| 7402 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7403 | |
| 7404 | /* Inport: '<Root>/Encode_Sp' */ |
| 7405 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7406 | |
| 7407 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7408 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7409 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7410 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7411 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7412 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7413 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7414 | &motor_DWork.chu_jd); |
| 7415 | |
| 7416 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7417 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7418 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7419 | if (tmp_0 < 2.147483648E+9) { |
| 7420 | if (tmp_0 >= -2.147483648E+9) { |
| 7421 | tmp = (int32_T)tmp_0; |
| 7422 | } else { |
| 7423 | tmp = MIN_int32_T; |
| 7424 | } |
| 7425 | } else { |
| 7426 | tmp = MAX_int32_T; |
| 7427 | } |
| 7428 | |
| 7429 | motor_Y.JD_Error = tmp; |
| 7430 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7431 | if (tmp_0 < 2.147483648E+9) { |
| 7432 | if (tmp_0 >= -2.147483648E+9) { |
| 7433 | tmp = (int32_T)tmp_0; |
| 7434 | } else { |
| 7435 | tmp = MIN_int32_T; |
| 7436 | } |
| 7437 | } else { |
| 7438 | tmp = MAX_int32_T; |
| 7439 | } |
| 7440 | |
| 7441 | motor_Y.JD_Out = tmp; |
| 7442 | } else { |
| 7443 | motor_DWork.chu_jd -= 0.01; |
| 7444 | |
| 7445 | /* Inport: '<Root>/JD_In' */ |
| 7446 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7447 | motor_B.JD_In_f = motor_U.JD_In; |
| 7448 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7449 | |
| 7450 | /* Inport: '<Root>/System_Order' */ |
| 7451 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7452 | |
| 7453 | /* Inport: '<Root>/Encode_Sp' */ |
| 7454 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7455 | |
| 7456 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7457 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7458 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7459 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7460 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7461 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7462 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7463 | &motor_DWork.chu_jd); |
| 7464 | |
| 7465 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7466 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7467 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7468 | if (tmp_0 < 2.147483648E+9) { |
| 7469 | if (tmp_0 >= -2.147483648E+9) { |
| 7470 | tmp = (int32_T)tmp_0; |
| 7471 | } else { |
| 7472 | tmp = MIN_int32_T; |
| 7473 | } |
| 7474 | } else { |
| 7475 | tmp = MAX_int32_T; |
| 7476 | } |
| 7477 | |
| 7478 | motor_Y.JD_Error = tmp; |
| 7479 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7480 | if (tmp_0 < 2.147483648E+9) { |
| 7481 | if (tmp_0 >= -2.147483648E+9) { |
| 7482 | tmp = (int32_T)tmp_0; |
| 7483 | } else { |
| 7484 | tmp = MIN_int32_T; |
| 7485 | } |
| 7486 | } else { |
| 7487 | tmp = MAX_int32_T; |
| 7488 | } |
| 7489 | |
| 7490 | motor_Y.JD_Out = tmp; |
| 7491 | } |
| 7492 | break; |
| 7493 | |
| 7494 | case motor_IN_Int4_b: |
| 7495 | /* During 'Int4': '<S1>:277' */ |
| 7496 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 7497 | /* Transition: '<S1>:708' */ |
| 7498 | motor_DWork.is_HY_a = motor_IN_Int5_a; |
| 7499 | motor_DWork.temporalCounter_i1 = 0U; |
| 7500 | |
| 7501 | /* Entry 'Int5': '<S1>:276' */ |
| 7502 | motor_Y.Motor_En = true; |
| 7503 | |
| 7504 | /* 电机失能 */ |
| 7505 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 7506 | } else { |
| 7507 | /* Inport: '<Root>/JD_In' */ |
| 7508 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7509 | motor_B.JD_In_f = motor_U.JD_In; |
| 7510 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7511 | |
| 7512 | /* Inport: '<Root>/System_Order' */ |
| 7513 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7514 | |
| 7515 | /* Inport: '<Root>/Encode_Sp' */ |
| 7516 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7517 | |
| 7518 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7519 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7520 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7521 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7522 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7523 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7524 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7525 | &motor_DWork.chu_jd); |
| 7526 | |
| 7527 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7528 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7529 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7530 | if (tmp_0 < 2.147483648E+9) { |
| 7531 | if (tmp_0 >= -2.147483648E+9) { |
| 7532 | tmp = (int32_T)tmp_0; |
| 7533 | } else { |
| 7534 | tmp = MIN_int32_T; |
| 7535 | } |
| 7536 | } else { |
| 7537 | tmp = MAX_int32_T; |
| 7538 | } |
| 7539 | |
| 7540 | motor_Y.JD_Error = tmp; |
| 7541 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7542 | if (tmp_0 < 2.147483648E+9) { |
| 7543 | if (tmp_0 >= -2.147483648E+9) { |
| 7544 | tmp = (int32_T)tmp_0; |
| 7545 | } else { |
| 7546 | tmp = MIN_int32_T; |
| 7547 | } |
| 7548 | } else { |
| 7549 | tmp = MAX_int32_T; |
| 7550 | } |
| 7551 | |
| 7552 | motor_Y.JD_Out = tmp; |
| 7553 | } |
| 7554 | break; |
| 7555 | |
| 7556 | case motor_IN_Int5_a: |
| 7557 | /* During 'Int5': '<S1>:276' */ |
| 7558 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 7559 | /* Transition: '<S1>:707' */ |
| 7560 | motor_DWork.is_HY_a = motor_IN_Int6_m; |
| 7561 | |
| 7562 | /* Entry 'Int6': '<S1>:273' */ |
| 7563 | motor_Y.DCZD = true; |
| 7564 | |
| 7565 | /* 开启制动 */ |
| 7566 | } |
| 7567 | break; |
| 7568 | |
| 7569 | case motor_IN_Int6_m: |
| 7570 | /* During 'Int6': '<S1>:273' */ |
| 7571 | /* Transition: '<S1>:704' */ |
| 7572 | /* Transition: '<S1>:663' */ |
| 7573 | motor_DWork.is_HY_a = motor_IN_NO_ACTIVE_CHILD; |
| 7574 | motor_DWork.is_Limit_Up_Test = motor_IN_NO_ACTIVE_CHILD; |
| 7575 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 7576 | |
| 7577 | /* Entry 'defult': '<S1>:239' */ |
| 7578 | motor_Y.Open_Result = 1U; |
| 7579 | |
| 7580 | /* 开机状态位成功 */ |
| 7581 | motor_DWork.In_State = 2U; |
| 7582 | break; |
| 7583 | |
| 7584 | case motor_IN_Int7: |
| 7585 | /* During 'Int7': '<S1>:969' */ |
| 7586 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 7587 | /* Transition: '<S1>:970' */ |
| 7588 | motor_DWork.is_HY_a = motor_IN_Int3_l; |
| 7589 | |
| 7590 | /* Entry 'Int3': '<S1>:274' */ |
| 7591 | motor_DWork.chu_jd -= 0.01; |
| 7592 | |
| 7593 | /* Inport: '<Root>/JD_In' */ |
| 7594 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7595 | motor_B.JD_In_f = motor_U.JD_In; |
| 7596 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7597 | |
| 7598 | /* Inport: '<Root>/System_Order' */ |
| 7599 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7600 | |
| 7601 | /* Inport: '<Root>/Encode_Sp' */ |
| 7602 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7603 | |
| 7604 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7605 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7606 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7607 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7608 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7609 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7610 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7611 | &motor_DWork.chu_jd); |
| 7612 | |
| 7613 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7614 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7615 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7616 | if (tmp_0 < 2.147483648E+9) { |
| 7617 | if (tmp_0 >= -2.147483648E+9) { |
| 7618 | tmp = (int32_T)tmp_0; |
| 7619 | } else { |
| 7620 | tmp = MIN_int32_T; |
| 7621 | } |
| 7622 | } else { |
| 7623 | tmp = MAX_int32_T; |
| 7624 | } |
| 7625 | |
| 7626 | motor_Y.JD_Error = tmp; |
| 7627 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7628 | if (tmp_0 < 2.147483648E+9) { |
| 7629 | if (tmp_0 >= -2.147483648E+9) { |
| 7630 | tmp = (int32_T)tmp_0; |
| 7631 | } else { |
| 7632 | tmp = MIN_int32_T; |
| 7633 | } |
| 7634 | } else { |
| 7635 | tmp = MAX_int32_T; |
| 7636 | } |
| 7637 | |
| 7638 | motor_Y.JD_Out = tmp; |
| 7639 | } else { |
| 7640 | /* Inport: '<Root>/JD_In' */ |
| 7641 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7642 | motor_B.JD_In_f = motor_U.JD_In; |
| 7643 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7644 | |
| 7645 | /* Inport: '<Root>/System_Order' */ |
| 7646 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7647 | |
| 7648 | /* Inport: '<Root>/Encode_Sp' */ |
| 7649 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7650 | |
| 7651 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7652 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7653 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7654 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7655 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7656 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7657 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7658 | &motor_DWork.chu_jd); |
| 7659 | |
| 7660 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7661 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7662 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7663 | if (tmp_0 < 2.147483648E+9) { |
| 7664 | if (tmp_0 >= -2.147483648E+9) { |
| 7665 | tmp = (int32_T)tmp_0; |
| 7666 | } else { |
| 7667 | tmp = MIN_int32_T; |
| 7668 | } |
| 7669 | } else { |
| 7670 | tmp = MAX_int32_T; |
| 7671 | } |
| 7672 | |
| 7673 | motor_Y.JD_Error = tmp; |
| 7674 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7675 | if (tmp_0 < 2.147483648E+9) { |
| 7676 | if (tmp_0 >= -2.147483648E+9) { |
| 7677 | tmp = (int32_T)tmp_0; |
| 7678 | } else { |
| 7679 | tmp = MIN_int32_T; |
| 7680 | } |
| 7681 | } else { |
| 7682 | tmp = MAX_int32_T; |
| 7683 | } |
| 7684 | |
| 7685 | motor_Y.JD_Out = tmp; |
| 7686 | } |
| 7687 | break; |
| 7688 | |
| 7689 | default: |
| 7690 | /* During 'Int8': '<S1>:990' */ |
| 7691 | if (motor_DWork.chu_jd > 14.0) { |
| 7692 | /* Transition: '<S1>:991' */ |
| 7693 | motor_DWork.is_HY_a = motor_IN_Int1; |
| 7694 | motor_DWork.temporalCounter_i1 = 0U; |
| 7695 | |
| 7696 | /* Entry 'Int1': '<S1>:278' */ |
| 7697 | motor_DWork.chu_jd += 0.002; |
| 7698 | |
| 7699 | /* Inport: '<Root>/JD_In' */ |
| 7700 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7701 | motor_B.JD_In_f = motor_U.JD_In; |
| 7702 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7703 | |
| 7704 | /* Inport: '<Root>/System_Order' */ |
| 7705 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7706 | |
| 7707 | /* Inport: '<Root>/Encode_Sp' */ |
| 7708 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7709 | |
| 7710 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7711 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7712 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7713 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7714 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7715 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7716 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7717 | &motor_DWork.chu_jd); |
| 7718 | |
| 7719 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7720 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7721 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7722 | if (tmp_0 < 2.147483648E+9) { |
| 7723 | if (tmp_0 >= -2.147483648E+9) { |
| 7724 | tmp = (int32_T)tmp_0; |
| 7725 | } else { |
| 7726 | tmp = MIN_int32_T; |
| 7727 | } |
| 7728 | } else { |
| 7729 | tmp = MAX_int32_T; |
| 7730 | } |
| 7731 | |
| 7732 | motor_Y.JD_Error = tmp; |
| 7733 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7734 | if (tmp_0 < 2.147483648E+9) { |
| 7735 | if (tmp_0 >= -2.147483648E+9) { |
| 7736 | tmp = (int32_T)tmp_0; |
| 7737 | } else { |
| 7738 | tmp = MIN_int32_T; |
| 7739 | } |
| 7740 | } else { |
| 7741 | tmp = MAX_int32_T; |
| 7742 | } |
| 7743 | |
| 7744 | motor_Y.JD_Out = tmp; |
| 7745 | } else if (motor_U.Up_Limit == 0) { |
| 7746 | /* Transition: '<S1>:1003' */ |
| 7747 | /* 上限位开关低电平有效 */ |
| 7748 | motor_DWork.is_HY_a = motor_IN_Int2_i; |
| 7749 | motor_DWork.temporalCounter_i1 = 0U; |
| 7750 | |
| 7751 | /* Entry 'Int2': '<S1>:279' */ |
| 7752 | motor_DWork.chu_jd += 0.002; |
| 7753 | |
| 7754 | /* Inport: '<Root>/JD_In' */ |
| 7755 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7756 | motor_B.JD_In_f = motor_U.JD_In; |
| 7757 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7758 | |
| 7759 | /* Inport: '<Root>/System_Order' */ |
| 7760 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7761 | |
| 7762 | /* Inport: '<Root>/Encode_Sp' */ |
| 7763 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7764 | |
| 7765 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7766 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7767 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7768 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7769 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7770 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7771 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7772 | &motor_DWork.chu_jd); |
| 7773 | |
| 7774 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7775 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7776 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7777 | if (tmp_0 < 2.147483648E+9) { |
| 7778 | if (tmp_0 >= -2.147483648E+9) { |
| 7779 | tmp = (int32_T)tmp_0; |
| 7780 | } else { |
| 7781 | tmp = MIN_int32_T; |
| 7782 | } |
| 7783 | } else { |
| 7784 | tmp = MAX_int32_T; |
| 7785 | } |
| 7786 | |
| 7787 | motor_Y.JD_Error = tmp; |
| 7788 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7789 | if (tmp_0 < 2.147483648E+9) { |
| 7790 | if (tmp_0 >= -2.147483648E+9) { |
| 7791 | tmp = (int32_T)tmp_0; |
| 7792 | } else { |
| 7793 | tmp = MIN_int32_T; |
| 7794 | } |
| 7795 | } else { |
| 7796 | tmp = MAX_int32_T; |
| 7797 | } |
| 7798 | |
| 7799 | motor_Y.JD_Out = tmp; |
| 7800 | } else { |
| 7801 | motor_DWork.chu_jd += 0.01; |
| 7802 | |
| 7803 | /* Inport: '<Root>/JD_In' */ |
| 7804 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 7805 | motor_B.JD_In_f = motor_U.JD_In; |
| 7806 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 7807 | |
| 7808 | /* Inport: '<Root>/System_Order' */ |
| 7809 | motor_B.Slect_port_c = motor_U.System_Order; |
| 7810 | |
| 7811 | /* Inport: '<Root>/Encode_Sp' */ |
| 7812 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 7813 | |
| 7814 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 7815 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 7816 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 7817 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 7818 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 7819 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 7820 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7821 | &motor_DWork.chu_jd); |
| 7822 | |
| 7823 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 7824 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 7825 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 7826 | if (tmp_0 < 2.147483648E+9) { |
| 7827 | if (tmp_0 >= -2.147483648E+9) { |
| 7828 | tmp = (int32_T)tmp_0; |
| 7829 | } else { |
| 7830 | tmp = MIN_int32_T; |
| 7831 | } |
| 7832 | } else { |
| 7833 | tmp = MAX_int32_T; |
| 7834 | } |
| 7835 | |
| 7836 | motor_Y.JD_Error = tmp; |
| 7837 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 7838 | if (tmp_0 < 2.147483648E+9) { |
| 7839 | if (tmp_0 >= -2.147483648E+9) { |
| 7840 | tmp = (int32_T)tmp_0; |
| 7841 | } else { |
| 7842 | tmp = MIN_int32_T; |
| 7843 | } |
| 7844 | } else { |
| 7845 | tmp = MAX_int32_T; |
| 7846 | } |
| 7847 | |
| 7848 | motor_Y.JD_Out = tmp; |
| 7849 | } |
| 7850 | break; |
| 7851 | } |
| 7852 | break; |
| 7853 | |
| 7854 | case motor_IN_XHHY_m1: |
| 7855 | /* During 'XHHY': '<S1>:256' */ |
| 7856 | switch (motor_DWork.is_XHHY_nl) { |
| 7857 | case motor_IN_Int: |
| 7858 | /* During 'Int': '<S1>:268' */ |
| 7859 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 7860 | /* Transition: '<S1>:686' */ |
| 7861 | motor_DWork.is_XHHY_nl = motor_IN_Int8; |
| 7862 | } |
| 7863 | break; |
| 7864 | |
| 7865 | case motor_IN_Int1: |
| 7866 | /* Inport: '<Root>/Up_Limit' */ |
| 7867 | /* During 'Int1': '<S1>:271' */ |
| 7868 | if (motor_U.Up_Limit == 0) { |
| 7869 | /* Transition: '<S1>:687' */ |
| 7870 | /* 上限位开关低电平有效 */ |
| 7871 | motor_DWork.is_XHHY_nl = motor_IN_Int2_i; |
| 7872 | motor_DWork.temporalCounter_i1 = 0U; |
| 7873 | |
| 7874 | /* Entry 'Int2': '<S1>:272' */ |
| 7875 | motor_DWork.chu_jd += 0.002; |
| 7876 | |
| 7877 | /* Inport: '<Root>/JD_In' */ |
| 7878 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 7879 | motor_B.JD_In = motor_U.JD_In; |
| 7880 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 7881 | |
| 7882 | /* Inport: '<Root>/Encode_Sp' */ |
| 7883 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 7884 | |
| 7885 | /* Inport: '<Root>/System_Order' */ |
| 7886 | motor_B.Slect_port = motor_U.System_Order; |
| 7887 | |
| 7888 | /* Inport: '<Root>/SGWY_In' */ |
| 7889 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 7890 | |
| 7891 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 7892 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 7893 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 7894 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 7895 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 7896 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 7897 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 7898 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 7899 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7900 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 7901 | &motor_DWork.chu_jd); |
| 7902 | |
| 7903 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 7904 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 7905 | if (tmp_0 < 65536.0) { |
| 7906 | if (tmp_0 >= 0.0) { |
| 7907 | tmp_1 = (uint16_T)tmp_0; |
| 7908 | } else { |
| 7909 | tmp_1 = 0U; |
| 7910 | } |
| 7911 | } else { |
| 7912 | tmp_1 = MAX_uint16_T; |
| 7913 | } |
| 7914 | |
| 7915 | motor_Y.PWMOUT = tmp_1; |
| 7916 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 7917 | if (tmp_0 < 2.147483648E+9) { |
| 7918 | if (tmp_0 >= -2.147483648E+9) { |
| 7919 | tmp = (int32_T)tmp_0; |
| 7920 | } else { |
| 7921 | tmp = MIN_int32_T; |
| 7922 | } |
| 7923 | } else { |
| 7924 | tmp = MAX_int32_T; |
| 7925 | } |
| 7926 | |
| 7927 | motor_Y.JD_Out = tmp; |
| 7928 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 7929 | if (tmp_0 < 2.147483648E+9) { |
| 7930 | if (tmp_0 >= -2.147483648E+9) { |
| 7931 | tmp = (int32_T)tmp_0; |
| 7932 | } else { |
| 7933 | tmp = MIN_int32_T; |
| 7934 | } |
| 7935 | } else { |
| 7936 | tmp = MAX_int32_T; |
| 7937 | } |
| 7938 | |
| 7939 | motor_Y.JD_Error = tmp; |
| 7940 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(5.0 / |
| 7941 | motor_DWork.Ts)) { |
| 7942 | /* Transition: '<S1>:1038' */ |
| 7943 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 7944 | |
| 7945 | /* 上限位开关故障$/ */ |
| 7946 | motor_DWork.is_XHHY_nl = motor_IN_Int2_i; |
| 7947 | motor_DWork.temporalCounter_i1 = 0U; |
| 7948 | |
| 7949 | /* Entry 'Int2': '<S1>:272' */ |
| 7950 | motor_DWork.chu_jd += 0.002; |
| 7951 | |
| 7952 | /* Inport: '<Root>/JD_In' */ |
| 7953 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 7954 | motor_B.JD_In = motor_U.JD_In; |
| 7955 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 7956 | |
| 7957 | /* Inport: '<Root>/Encode_Sp' */ |
| 7958 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 7959 | |
| 7960 | /* Inport: '<Root>/System_Order' */ |
| 7961 | motor_B.Slect_port = motor_U.System_Order; |
| 7962 | |
| 7963 | /* Inport: '<Root>/SGWY_In' */ |
| 7964 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 7965 | |
| 7966 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 7967 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 7968 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 7969 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 7970 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 7971 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 7972 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 7973 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 7974 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 7975 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 7976 | &motor_DWork.chu_jd); |
| 7977 | |
| 7978 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 7979 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 7980 | if (tmp_0 < 65536.0) { |
| 7981 | if (tmp_0 >= 0.0) { |
| 7982 | tmp_1 = (uint16_T)tmp_0; |
| 7983 | } else { |
| 7984 | tmp_1 = 0U; |
| 7985 | } |
| 7986 | } else { |
| 7987 | tmp_1 = MAX_uint16_T; |
| 7988 | } |
| 7989 | |
| 7990 | motor_Y.PWMOUT = tmp_1; |
| 7991 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 7992 | if (tmp_0 < 2.147483648E+9) { |
| 7993 | if (tmp_0 >= -2.147483648E+9) { |
| 7994 | tmp = (int32_T)tmp_0; |
| 7995 | } else { |
| 7996 | tmp = MIN_int32_T; |
| 7997 | } |
| 7998 | } else { |
| 7999 | tmp = MAX_int32_T; |
| 8000 | } |
| 8001 | |
| 8002 | motor_Y.JD_Out = tmp; |
| 8003 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8004 | if (tmp_0 < 2.147483648E+9) { |
| 8005 | if (tmp_0 >= -2.147483648E+9) { |
| 8006 | tmp = (int32_T)tmp_0; |
| 8007 | } else { |
| 8008 | tmp = MIN_int32_T; |
| 8009 | } |
| 8010 | } else { |
| 8011 | tmp = MAX_int32_T; |
| 8012 | } |
| 8013 | |
| 8014 | motor_Y.JD_Error = tmp; |
| 8015 | } else { |
| 8016 | motor_DWork.chu_jd += 0.002; |
| 8017 | |
| 8018 | /* Inport: '<Root>/JD_In' */ |
| 8019 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8020 | motor_B.JD_In = motor_U.JD_In; |
| 8021 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8022 | |
| 8023 | /* Inport: '<Root>/Encode_Sp' */ |
| 8024 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8025 | |
| 8026 | /* Inport: '<Root>/System_Order' */ |
| 8027 | motor_B.Slect_port = motor_U.System_Order; |
| 8028 | |
| 8029 | /* Inport: '<Root>/SGWY_In' */ |
| 8030 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8031 | |
| 8032 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8033 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8034 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8035 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8036 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8037 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8038 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8039 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8040 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8041 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8042 | &motor_DWork.chu_jd); |
| 8043 | |
| 8044 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8045 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8046 | if (tmp_0 < 65536.0) { |
| 8047 | if (tmp_0 >= 0.0) { |
| 8048 | tmp_1 = (uint16_T)tmp_0; |
| 8049 | } else { |
| 8050 | tmp_1 = 0U; |
| 8051 | } |
| 8052 | } else { |
| 8053 | tmp_1 = MAX_uint16_T; |
| 8054 | } |
| 8055 | |
| 8056 | motor_Y.PWMOUT = tmp_1; |
| 8057 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8058 | if (tmp_0 < 2.147483648E+9) { |
| 8059 | if (tmp_0 >= -2.147483648E+9) { |
| 8060 | tmp = (int32_T)tmp_0; |
| 8061 | } else { |
| 8062 | tmp = MIN_int32_T; |
| 8063 | } |
| 8064 | } else { |
| 8065 | tmp = MAX_int32_T; |
| 8066 | } |
| 8067 | |
| 8068 | motor_Y.JD_Out = tmp; |
| 8069 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8070 | if (tmp_0 < 2.147483648E+9) { |
| 8071 | if (tmp_0 >= -2.147483648E+9) { |
| 8072 | tmp = (int32_T)tmp_0; |
| 8073 | } else { |
| 8074 | tmp = MIN_int32_T; |
| 8075 | } |
| 8076 | } else { |
| 8077 | tmp = MAX_int32_T; |
| 8078 | } |
| 8079 | |
| 8080 | motor_Y.JD_Error = tmp; |
| 8081 | } |
| 8082 | break; |
| 8083 | |
| 8084 | case motor_IN_Int2_i: |
| 8085 | /* During 'Int2': '<S1>:272' */ |
| 8086 | if (motor_DWork.temporalCounter_i1 >= 50U) { |
| 8087 | /* Transition: '<S1>:689' */ |
| 8088 | motor_DWork.is_XHHY_nl = motor_IN_Int7; |
| 8089 | motor_DWork.temporalCounter_i1 = 0U; |
| 8090 | } else { |
| 8091 | motor_DWork.chu_jd += 0.002; |
| 8092 | |
| 8093 | /* Inport: '<Root>/JD_In' */ |
| 8094 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8095 | motor_B.JD_In = motor_U.JD_In; |
| 8096 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8097 | |
| 8098 | /* Inport: '<Root>/Encode_Sp' */ |
| 8099 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8100 | |
| 8101 | /* Inport: '<Root>/System_Order' */ |
| 8102 | motor_B.Slect_port = motor_U.System_Order; |
| 8103 | |
| 8104 | /* Inport: '<Root>/SGWY_In' */ |
| 8105 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8106 | |
| 8107 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8108 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8109 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8110 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8111 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8112 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8113 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8114 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8115 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8116 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8117 | &motor_DWork.chu_jd); |
| 8118 | |
| 8119 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8120 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8121 | if (tmp_0 < 65536.0) { |
| 8122 | if (tmp_0 >= 0.0) { |
| 8123 | tmp_1 = (uint16_T)tmp_0; |
| 8124 | } else { |
| 8125 | tmp_1 = 0U; |
| 8126 | } |
| 8127 | } else { |
| 8128 | tmp_1 = MAX_uint16_T; |
| 8129 | } |
| 8130 | |
| 8131 | motor_Y.PWMOUT = tmp_1; |
| 8132 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8133 | if (tmp_0 < 2.147483648E+9) { |
| 8134 | if (tmp_0 >= -2.147483648E+9) { |
| 8135 | tmp = (int32_T)tmp_0; |
| 8136 | } else { |
| 8137 | tmp = MIN_int32_T; |
| 8138 | } |
| 8139 | } else { |
| 8140 | tmp = MAX_int32_T; |
| 8141 | } |
| 8142 | |
| 8143 | motor_Y.JD_Out = tmp; |
| 8144 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8145 | if (tmp_0 < 2.147483648E+9) { |
| 8146 | if (tmp_0 >= -2.147483648E+9) { |
| 8147 | tmp = (int32_T)tmp_0; |
| 8148 | } else { |
| 8149 | tmp = MIN_int32_T; |
| 8150 | } |
| 8151 | } else { |
| 8152 | tmp = MAX_int32_T; |
| 8153 | } |
| 8154 | |
| 8155 | motor_Y.JD_Error = tmp; |
| 8156 | } |
| 8157 | break; |
| 8158 | |
| 8159 | case motor_IN_Int3_l: |
| 8160 | /* During 'Int3': '<S1>:267' */ |
| 8161 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 8162 | /* Transition: '<S1>:690' */ |
| 8163 | motor_DWork.is_XHHY_nl = motor_IN_Int4_b; |
| 8164 | motor_DWork.temporalCounter_i1 = 0U; |
| 8165 | |
| 8166 | /* Entry 'Int4': '<S1>:270' */ |
| 8167 | motor_DWork.chu_jd = 0.0; |
| 8168 | |
| 8169 | /* Inport: '<Root>/JD_In' */ |
| 8170 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8171 | motor_B.JD_In = motor_U.JD_In; |
| 8172 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8173 | |
| 8174 | /* Inport: '<Root>/Encode_Sp' */ |
| 8175 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8176 | |
| 8177 | /* Inport: '<Root>/System_Order' */ |
| 8178 | motor_B.Slect_port = motor_U.System_Order; |
| 8179 | |
| 8180 | /* Inport: '<Root>/SGWY_In' */ |
| 8181 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8182 | |
| 8183 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8184 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8185 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8186 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8187 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8188 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8189 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8190 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8191 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8192 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8193 | &motor_DWork.chu_jd); |
| 8194 | |
| 8195 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8196 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8197 | if (tmp_0 < 65536.0) { |
| 8198 | if (tmp_0 >= 0.0) { |
| 8199 | tmp_1 = (uint16_T)tmp_0; |
| 8200 | } else { |
| 8201 | tmp_1 = 0U; |
| 8202 | } |
| 8203 | } else { |
| 8204 | tmp_1 = MAX_uint16_T; |
| 8205 | } |
| 8206 | |
| 8207 | motor_Y.PWMOUT = tmp_1; |
| 8208 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8209 | if (tmp_0 < 2.147483648E+9) { |
| 8210 | if (tmp_0 >= -2.147483648E+9) { |
| 8211 | tmp = (int32_T)tmp_0; |
| 8212 | } else { |
| 8213 | tmp = MIN_int32_T; |
| 8214 | } |
| 8215 | } else { |
| 8216 | tmp = MAX_int32_T; |
| 8217 | } |
| 8218 | |
| 8219 | motor_Y.JD_Out = tmp; |
| 8220 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8221 | if (tmp_0 < 2.147483648E+9) { |
| 8222 | if (tmp_0 >= -2.147483648E+9) { |
| 8223 | tmp = (int32_T)tmp_0; |
| 8224 | } else { |
| 8225 | tmp = MIN_int32_T; |
| 8226 | } |
| 8227 | } else { |
| 8228 | tmp = MAX_int32_T; |
| 8229 | } |
| 8230 | |
| 8231 | motor_Y.JD_Error = tmp; |
| 8232 | } else { |
| 8233 | motor_DWork.chu_jd -= 0.01; |
| 8234 | |
| 8235 | /* Inport: '<Root>/JD_In' */ |
| 8236 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8237 | motor_B.JD_In = motor_U.JD_In; |
| 8238 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8239 | |
| 8240 | /* Inport: '<Root>/Encode_Sp' */ |
| 8241 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8242 | |
| 8243 | /* Inport: '<Root>/System_Order' */ |
| 8244 | motor_B.Slect_port = motor_U.System_Order; |
| 8245 | |
| 8246 | /* Inport: '<Root>/SGWY_In' */ |
| 8247 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8248 | |
| 8249 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8250 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8251 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8252 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8253 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8254 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8255 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8256 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8257 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8258 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8259 | &motor_DWork.chu_jd); |
| 8260 | |
| 8261 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8262 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8263 | if (tmp_0 < 65536.0) { |
| 8264 | if (tmp_0 >= 0.0) { |
| 8265 | tmp_1 = (uint16_T)tmp_0; |
| 8266 | } else { |
| 8267 | tmp_1 = 0U; |
| 8268 | } |
| 8269 | } else { |
| 8270 | tmp_1 = MAX_uint16_T; |
| 8271 | } |
| 8272 | |
| 8273 | motor_Y.PWMOUT = tmp_1; |
| 8274 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8275 | if (tmp_0 < 2.147483648E+9) { |
| 8276 | if (tmp_0 >= -2.147483648E+9) { |
| 8277 | tmp = (int32_T)tmp_0; |
| 8278 | } else { |
| 8279 | tmp = MIN_int32_T; |
| 8280 | } |
| 8281 | } else { |
| 8282 | tmp = MAX_int32_T; |
| 8283 | } |
| 8284 | |
| 8285 | motor_Y.JD_Out = tmp; |
| 8286 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8287 | if (tmp_0 < 2.147483648E+9) { |
| 8288 | if (tmp_0 >= -2.147483648E+9) { |
| 8289 | tmp = (int32_T)tmp_0; |
| 8290 | } else { |
| 8291 | tmp = MIN_int32_T; |
| 8292 | } |
| 8293 | } else { |
| 8294 | tmp = MAX_int32_T; |
| 8295 | } |
| 8296 | |
| 8297 | motor_Y.JD_Error = tmp; |
| 8298 | } |
| 8299 | break; |
| 8300 | |
| 8301 | case motor_IN_Int4_b: |
| 8302 | /* During 'Int4': '<S1>:270' */ |
| 8303 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 8304 | /* Transition: '<S1>:692' */ |
| 8305 | motor_DWork.is_XHHY_nl = motor_IN_Int5_a; |
| 8306 | motor_DWork.temporalCounter_i1 = 0U; |
| 8307 | |
| 8308 | /* Entry 'Int5': '<S1>:269' */ |
| 8309 | motor_Y.Motor_En = true; |
| 8310 | |
| 8311 | /* 电机失能 */ |
| 8312 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 8313 | } else { |
| 8314 | /* Inport: '<Root>/JD_In' */ |
| 8315 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8316 | motor_B.JD_In = motor_U.JD_In; |
| 8317 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8318 | |
| 8319 | /* Inport: '<Root>/Encode_Sp' */ |
| 8320 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8321 | |
| 8322 | /* Inport: '<Root>/System_Order' */ |
| 8323 | motor_B.Slect_port = motor_U.System_Order; |
| 8324 | |
| 8325 | /* Inport: '<Root>/SGWY_In' */ |
| 8326 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8327 | |
| 8328 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8329 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8330 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8331 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8332 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8333 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8334 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8335 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8336 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8337 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8338 | &motor_DWork.chu_jd); |
| 8339 | |
| 8340 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8341 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8342 | if (tmp_0 < 65536.0) { |
| 8343 | if (tmp_0 >= 0.0) { |
| 8344 | tmp_1 = (uint16_T)tmp_0; |
| 8345 | } else { |
| 8346 | tmp_1 = 0U; |
| 8347 | } |
| 8348 | } else { |
| 8349 | tmp_1 = MAX_uint16_T; |
| 8350 | } |
| 8351 | |
| 8352 | motor_Y.PWMOUT = tmp_1; |
| 8353 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8354 | if (tmp_0 < 2.147483648E+9) { |
| 8355 | if (tmp_0 >= -2.147483648E+9) { |
| 8356 | tmp = (int32_T)tmp_0; |
| 8357 | } else { |
| 8358 | tmp = MIN_int32_T; |
| 8359 | } |
| 8360 | } else { |
| 8361 | tmp = MAX_int32_T; |
| 8362 | } |
| 8363 | |
| 8364 | motor_Y.JD_Out = tmp; |
| 8365 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8366 | if (tmp_0 < 2.147483648E+9) { |
| 8367 | if (tmp_0 >= -2.147483648E+9) { |
| 8368 | tmp = (int32_T)tmp_0; |
| 8369 | } else { |
| 8370 | tmp = MIN_int32_T; |
| 8371 | } |
| 8372 | } else { |
| 8373 | tmp = MAX_int32_T; |
| 8374 | } |
| 8375 | |
| 8376 | motor_Y.JD_Error = tmp; |
| 8377 | } |
| 8378 | break; |
| 8379 | |
| 8380 | case motor_IN_Int5_a: |
| 8381 | /* During 'Int5': '<S1>:269' */ |
| 8382 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 8383 | /* Transition: '<S1>:691' */ |
| 8384 | motor_DWork.is_XHHY_nl = motor_IN_Int6_m; |
| 8385 | |
| 8386 | /* Entry 'Int6': '<S1>:266' */ |
| 8387 | motor_Y.DCZD = true; |
| 8388 | |
| 8389 | /* 开启制动 */ |
| 8390 | } |
| 8391 | break; |
| 8392 | |
| 8393 | case motor_IN_Int6_m: |
| 8394 | /* During 'Int6': '<S1>:266' */ |
| 8395 | /* Transition: '<S1>:688' */ |
| 8396 | /* Transition: '<S1>:663' */ |
| 8397 | motor_DWork.is_XHHY_nl = motor_IN_NO_ACTIVE_CHILD; |
| 8398 | motor_DWork.is_Limit_Up_Test = motor_IN_NO_ACTIVE_CHILD; |
| 8399 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 8400 | |
| 8401 | /* Entry 'defult': '<S1>:239' */ |
| 8402 | motor_Y.Open_Result = 1U; |
| 8403 | |
| 8404 | /* 开机状态位成功 */ |
| 8405 | motor_DWork.In_State = 2U; |
| 8406 | break; |
| 8407 | |
| 8408 | case motor_IN_Int7: |
| 8409 | /* During 'Int7': '<S1>:971' */ |
| 8410 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 8411 | /* Transition: '<S1>:972' */ |
| 8412 | motor_DWork.is_XHHY_nl = motor_IN_Int3_l; |
| 8413 | |
| 8414 | /* Entry 'Int3': '<S1>:267' */ |
| 8415 | motor_DWork.chu_jd -= 0.01; |
| 8416 | |
| 8417 | /* Inport: '<Root>/JD_In' */ |
| 8418 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8419 | motor_B.JD_In = motor_U.JD_In; |
| 8420 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8421 | |
| 8422 | /* Inport: '<Root>/Encode_Sp' */ |
| 8423 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8424 | |
| 8425 | /* Inport: '<Root>/System_Order' */ |
| 8426 | motor_B.Slect_port = motor_U.System_Order; |
| 8427 | |
| 8428 | /* Inport: '<Root>/SGWY_In' */ |
| 8429 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8430 | |
| 8431 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8432 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8433 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8434 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8435 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8436 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8437 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8438 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8439 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8440 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8441 | &motor_DWork.chu_jd); |
| 8442 | |
| 8443 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8444 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8445 | if (tmp_0 < 65536.0) { |
| 8446 | if (tmp_0 >= 0.0) { |
| 8447 | tmp_1 = (uint16_T)tmp_0; |
| 8448 | } else { |
| 8449 | tmp_1 = 0U; |
| 8450 | } |
| 8451 | } else { |
| 8452 | tmp_1 = MAX_uint16_T; |
| 8453 | } |
| 8454 | |
| 8455 | motor_Y.PWMOUT = tmp_1; |
| 8456 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8457 | if (tmp_0 < 2.147483648E+9) { |
| 8458 | if (tmp_0 >= -2.147483648E+9) { |
| 8459 | tmp = (int32_T)tmp_0; |
| 8460 | } else { |
| 8461 | tmp = MIN_int32_T; |
| 8462 | } |
| 8463 | } else { |
| 8464 | tmp = MAX_int32_T; |
| 8465 | } |
| 8466 | |
| 8467 | motor_Y.JD_Out = tmp; |
| 8468 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8469 | if (tmp_0 < 2.147483648E+9) { |
| 8470 | if (tmp_0 >= -2.147483648E+9) { |
| 8471 | tmp = (int32_T)tmp_0; |
| 8472 | } else { |
| 8473 | tmp = MIN_int32_T; |
| 8474 | } |
| 8475 | } else { |
| 8476 | tmp = MAX_int32_T; |
| 8477 | } |
| 8478 | |
| 8479 | motor_Y.JD_Error = tmp; |
| 8480 | } else { |
| 8481 | /* Inport: '<Root>/JD_In' */ |
| 8482 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8483 | motor_B.JD_In = motor_U.JD_In; |
| 8484 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8485 | |
| 8486 | /* Inport: '<Root>/Encode_Sp' */ |
| 8487 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8488 | |
| 8489 | /* Inport: '<Root>/System_Order' */ |
| 8490 | motor_B.Slect_port = motor_U.System_Order; |
| 8491 | |
| 8492 | /* Inport: '<Root>/SGWY_In' */ |
| 8493 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8494 | |
| 8495 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8496 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8497 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8498 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8499 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8500 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8501 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8502 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8503 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8504 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8505 | &motor_DWork.chu_jd); |
| 8506 | |
| 8507 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8508 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8509 | if (tmp_0 < 65536.0) { |
| 8510 | if (tmp_0 >= 0.0) { |
| 8511 | tmp_1 = (uint16_T)tmp_0; |
| 8512 | } else { |
| 8513 | tmp_1 = 0U; |
| 8514 | } |
| 8515 | } else { |
| 8516 | tmp_1 = MAX_uint16_T; |
| 8517 | } |
| 8518 | |
| 8519 | motor_Y.PWMOUT = tmp_1; |
| 8520 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8521 | if (tmp_0 < 2.147483648E+9) { |
| 8522 | if (tmp_0 >= -2.147483648E+9) { |
| 8523 | tmp = (int32_T)tmp_0; |
| 8524 | } else { |
| 8525 | tmp = MIN_int32_T; |
| 8526 | } |
| 8527 | } else { |
| 8528 | tmp = MAX_int32_T; |
| 8529 | } |
| 8530 | |
| 8531 | motor_Y.JD_Out = tmp; |
| 8532 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8533 | if (tmp_0 < 2.147483648E+9) { |
| 8534 | if (tmp_0 >= -2.147483648E+9) { |
| 8535 | tmp = (int32_T)tmp_0; |
| 8536 | } else { |
| 8537 | tmp = MIN_int32_T; |
| 8538 | } |
| 8539 | } else { |
| 8540 | tmp = MAX_int32_T; |
| 8541 | } |
| 8542 | |
| 8543 | motor_Y.JD_Error = tmp; |
| 8544 | } |
| 8545 | break; |
| 8546 | |
| 8547 | default: |
| 8548 | /* During 'Int8': '<S1>:988' */ |
| 8549 | if (motor_DWork.chu_jd > 16.0) { |
| 8550 | /* Transition: '<S1>:989' */ |
| 8551 | motor_DWork.is_XHHY_nl = motor_IN_Int1; |
| 8552 | motor_DWork.temporalCounter_i1 = 0U; |
| 8553 | |
| 8554 | /* Entry 'Int1': '<S1>:271' */ |
| 8555 | motor_DWork.chu_jd += 0.002; |
| 8556 | |
| 8557 | /* Inport: '<Root>/JD_In' */ |
| 8558 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8559 | motor_B.JD_In = motor_U.JD_In; |
| 8560 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8561 | |
| 8562 | /* Inport: '<Root>/Encode_Sp' */ |
| 8563 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8564 | |
| 8565 | /* Inport: '<Root>/System_Order' */ |
| 8566 | motor_B.Slect_port = motor_U.System_Order; |
| 8567 | |
| 8568 | /* Inport: '<Root>/SGWY_In' */ |
| 8569 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8570 | |
| 8571 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8572 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8573 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8574 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8575 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8576 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8577 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8578 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8579 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8580 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8581 | &motor_DWork.chu_jd); |
| 8582 | |
| 8583 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8584 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8585 | if (tmp_0 < 65536.0) { |
| 8586 | if (tmp_0 >= 0.0) { |
| 8587 | tmp_1 = (uint16_T)tmp_0; |
| 8588 | } else { |
| 8589 | tmp_1 = 0U; |
| 8590 | } |
| 8591 | } else { |
| 8592 | tmp_1 = MAX_uint16_T; |
| 8593 | } |
| 8594 | |
| 8595 | motor_Y.PWMOUT = tmp_1; |
| 8596 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8597 | if (tmp_0 < 2.147483648E+9) { |
| 8598 | if (tmp_0 >= -2.147483648E+9) { |
| 8599 | tmp = (int32_T)tmp_0; |
| 8600 | } else { |
| 8601 | tmp = MIN_int32_T; |
| 8602 | } |
| 8603 | } else { |
| 8604 | tmp = MAX_int32_T; |
| 8605 | } |
| 8606 | |
| 8607 | motor_Y.JD_Out = tmp; |
| 8608 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8609 | if (tmp_0 < 2.147483648E+9) { |
| 8610 | if (tmp_0 >= -2.147483648E+9) { |
| 8611 | tmp = (int32_T)tmp_0; |
| 8612 | } else { |
| 8613 | tmp = MIN_int32_T; |
| 8614 | } |
| 8615 | } else { |
| 8616 | tmp = MAX_int32_T; |
| 8617 | } |
| 8618 | |
| 8619 | motor_Y.JD_Error = tmp; |
| 8620 | } else if (motor_U.Up_Limit == 0) { |
| 8621 | /* Transition: '<S1>:1004' */ |
| 8622 | /* 上限位开关低电平有效 */ |
| 8623 | motor_DWork.is_XHHY_nl = motor_IN_Int2_i; |
| 8624 | motor_DWork.temporalCounter_i1 = 0U; |
| 8625 | |
| 8626 | /* Entry 'Int2': '<S1>:272' */ |
| 8627 | motor_DWork.chu_jd += 0.002; |
| 8628 | |
| 8629 | /* Inport: '<Root>/JD_In' */ |
| 8630 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8631 | motor_B.JD_In = motor_U.JD_In; |
| 8632 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8633 | |
| 8634 | /* Inport: '<Root>/Encode_Sp' */ |
| 8635 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8636 | |
| 8637 | /* Inport: '<Root>/System_Order' */ |
| 8638 | motor_B.Slect_port = motor_U.System_Order; |
| 8639 | |
| 8640 | /* Inport: '<Root>/SGWY_In' */ |
| 8641 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8642 | |
| 8643 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8644 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8645 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8646 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8647 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8648 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8649 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8650 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8651 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8652 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8653 | &motor_DWork.chu_jd); |
| 8654 | |
| 8655 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8656 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8657 | if (tmp_0 < 65536.0) { |
| 8658 | if (tmp_0 >= 0.0) { |
| 8659 | tmp_1 = (uint16_T)tmp_0; |
| 8660 | } else { |
| 8661 | tmp_1 = 0U; |
| 8662 | } |
| 8663 | } else { |
| 8664 | tmp_1 = MAX_uint16_T; |
| 8665 | } |
| 8666 | |
| 8667 | motor_Y.PWMOUT = tmp_1; |
| 8668 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8669 | if (tmp_0 < 2.147483648E+9) { |
| 8670 | if (tmp_0 >= -2.147483648E+9) { |
| 8671 | tmp = (int32_T)tmp_0; |
| 8672 | } else { |
| 8673 | tmp = MIN_int32_T; |
| 8674 | } |
| 8675 | } else { |
| 8676 | tmp = MAX_int32_T; |
| 8677 | } |
| 8678 | |
| 8679 | motor_Y.JD_Out = tmp; |
| 8680 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8681 | if (tmp_0 < 2.147483648E+9) { |
| 8682 | if (tmp_0 >= -2.147483648E+9) { |
| 8683 | tmp = (int32_T)tmp_0; |
| 8684 | } else { |
| 8685 | tmp = MIN_int32_T; |
| 8686 | } |
| 8687 | } else { |
| 8688 | tmp = MAX_int32_T; |
| 8689 | } |
| 8690 | |
| 8691 | motor_Y.JD_Error = tmp; |
| 8692 | } else { |
| 8693 | motor_DWork.chu_jd += 0.01; |
| 8694 | |
| 8695 | /* Inport: '<Root>/JD_In' */ |
| 8696 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 8697 | motor_B.JD_In = motor_U.JD_In; |
| 8698 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 8699 | |
| 8700 | /* Inport: '<Root>/Encode_Sp' */ |
| 8701 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 8702 | |
| 8703 | /* Inport: '<Root>/System_Order' */ |
| 8704 | motor_B.Slect_port = motor_U.System_Order; |
| 8705 | |
| 8706 | /* Inport: '<Root>/SGWY_In' */ |
| 8707 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 8708 | |
| 8709 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 8710 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 8711 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 8712 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 8713 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 8714 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 8715 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 8716 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 8717 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8718 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 8719 | &motor_DWork.chu_jd); |
| 8720 | |
| 8721 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 8722 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 8723 | if (tmp_0 < 65536.0) { |
| 8724 | if (tmp_0 >= 0.0) { |
| 8725 | tmp_1 = (uint16_T)tmp_0; |
| 8726 | } else { |
| 8727 | tmp_1 = 0U; |
| 8728 | } |
| 8729 | } else { |
| 8730 | tmp_1 = MAX_uint16_T; |
| 8731 | } |
| 8732 | |
| 8733 | motor_Y.PWMOUT = tmp_1; |
| 8734 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 8735 | if (tmp_0 < 2.147483648E+9) { |
| 8736 | if (tmp_0 >= -2.147483648E+9) { |
| 8737 | tmp = (int32_T)tmp_0; |
| 8738 | } else { |
| 8739 | tmp = MIN_int32_T; |
| 8740 | } |
| 8741 | } else { |
| 8742 | tmp = MAX_int32_T; |
| 8743 | } |
| 8744 | |
| 8745 | motor_Y.JD_Out = tmp; |
| 8746 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 8747 | if (tmp_0 < 2.147483648E+9) { |
| 8748 | if (tmp_0 >= -2.147483648E+9) { |
| 8749 | tmp = (int32_T)tmp_0; |
| 8750 | } else { |
| 8751 | tmp = MIN_int32_T; |
| 8752 | } |
| 8753 | } else { |
| 8754 | tmp = MAX_int32_T; |
| 8755 | } |
| 8756 | |
| 8757 | motor_Y.JD_Error = tmp; |
| 8758 | } |
| 8759 | break; |
| 8760 | } |
| 8761 | break; |
| 8762 | |
| 8763 | default: |
| 8764 | motor_XHZY_a(); |
| 8765 | break; |
| 8766 | } |
| 8767 | } |
| 8768 | |
| 8769 | /* Function for Chart: '<Root>/Chart' */ |
| 8770 | static void motor_exit_internal_Test_Mode(void) |
| 8771 | { |
| 8772 | /* Exit Internal 'Test_Mode': '<S1>:35' */ |
| 8773 | motor_DWork.is_Test_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 8774 | |
| 8775 | /* Exit Internal 'Dspace_Test': '<S1>:1051' */ |
| 8776 | motor_DWork.is_Dspace_Test = motor_IN_NO_ACTIVE_CHILD; |
| 8777 | |
| 8778 | /* Exit Internal 'Elevation_Test': '<S1>:304' */ |
| 8779 | motor_DWork.is_Elevation_Test = motor_IN_NO_ACTIVE_CHILD; |
| 8780 | |
| 8781 | /* Exit Internal 'Limit_Down_Test': '<S1>:240' */ |
| 8782 | /* Exit Internal 'HY': '<S1>:280' */ |
| 8783 | motor_DWork.is_HY_h = motor_IN_NO_ACTIVE_CHILD; |
| 8784 | motor_DWork.is_Limit_Down_Test = motor_IN_NO_ACTIVE_CHILD; |
| 8785 | |
| 8786 | /* Exit Internal 'XHHY': '<S1>:296' */ |
| 8787 | motor_DWork.is_XHHY_f = motor_IN_NO_ACTIVE_CHILD; |
| 8788 | |
| 8789 | /* Exit Internal 'XHZY': '<S1>:288' */ |
| 8790 | motor_DWork.is_XHZY_i = motor_IN_NO_ACTIVE_CHILD; |
| 8791 | |
| 8792 | /* Exit Internal 'Limit_Up_Test': '<S1>:238' */ |
| 8793 | /* Exit Internal 'HY': '<S1>:258' */ |
| 8794 | motor_DWork.is_HY_a = motor_IN_NO_ACTIVE_CHILD; |
| 8795 | motor_DWork.is_Limit_Up_Test = motor_IN_NO_ACTIVE_CHILD; |
| 8796 | |
| 8797 | /* Exit Internal 'XHHY': '<S1>:256' */ |
| 8798 | motor_DWork.is_XHHY_nl = motor_IN_NO_ACTIVE_CHILD; |
| 8799 | |
| 8800 | /* Exit Internal 'XHZY': '<S1>:257' */ |
| 8801 | motor_DWork.is_XHZY_a = motor_IN_NO_ACTIVE_CHILD; |
| 8802 | } |
| 8803 | |
| 8804 | /* Function for Chart: '<Root>/Chart' */ |
| 8805 | static uint8_T motor_Init_Result_Check(uint8_T In1, uint8_T In2, real_T In3) |
| 8806 | { |
| 8807 | uint8_T y; |
| 8808 | |
| 8809 | /* MATLAB Function 'Init_Result_Check': '<S1>:105' */ |
| 8810 | if ((In1 == 1) && (In2 == 1) && (In3 == 1.0)) { |
| 8811 | /* '<S1>:105:2' */ |
| 8812 | /* '<S1>:105:3' */ |
| 8813 | y = 1U; |
| 8814 | } else { |
| 8815 | /* '<S1>:105:5' */ |
| 8816 | y = 0U; |
| 8817 | } |
| 8818 | |
| 8819 | return y; |
| 8820 | } |
| 8821 | |
| 8822 | /* Function for Chart: '<Root>/Chart' */ |
| 8823 | static void motor_hy(void) |
| 8824 | { |
| 8825 | boolean_T guard1 = false; |
| 8826 | real_T tmp; |
| 8827 | int32_T saturatedUnaryMinus; |
| 8828 | |
| 8829 | /* During 'hy': '<S1>:62' */ |
| 8830 | switch (motor_DWork.is_hy) { |
| 8831 | case motor_IN_P1: |
| 8832 | /* During 'P1': '<S1>:39' */ |
| 8833 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 8834 | /* Transition: '<S1>:452' */ |
| 8835 | /* 等待2S */ |
| 8836 | if (motor_DWork.Encode_Pos0 <= 293092.0) { |
| 8837 | /* Transition: '<S1>:453' */ |
| 8838 | /* 293092为2.5度 */ |
| 8839 | motor_DWork.is_hy = motor_IN_P8; |
| 8840 | |
| 8841 | /* Entry 'P8': '<S1>:29' */ |
| 8842 | motor_Y.Flag_Motor_Error = 0U; |
| 8843 | |
| 8844 | /* 电机故障,不能正转 |
| 8845 | Motor_En=1; |
| 8846 | 电机失能,关 */ |
| 8847 | } else { |
| 8848 | if (motor_U.Encode_Sp < 0) { |
| 8849 | /* Inport: '<Root>/Encode_Sp' */ |
| 8850 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 8851 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 8852 | saturatedUnaryMinus = MAX_int32_T; |
| 8853 | } else { |
| 8854 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 8855 | } |
| 8856 | } else { |
| 8857 | /* Inport: '<Root>/Encode_Sp' */ |
| 8858 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 8859 | } |
| 8860 | |
| 8861 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 8862 | /* Transition: '<S1>:454' */ |
| 8863 | /* 判断电机是否到达上机械限位 |
| 8864 | 故障(卡死) |
| 8865 | 编码器故障 */ |
| 8866 | motor_DWork.is_hy = motor_IN_P3; |
| 8867 | |
| 8868 | /* Entry 'P3': '<S1>:26' */ |
| 8869 | /* en:PWMOUT=PWM_Value_Down; |
| 8870 | du:PWMOUT=PWM_Value_Down;%电机下行$/ |
| 8871 | on after(4/Ts,tick):Flag_Up_GZ_limit= uint8(0);%上限位开关故障$/ |
| 8872 | Motor_En=1; |
| 8873 | 电机失能,关 |
| 8874 | PWMOUT=PWM_Value_Mid; |
| 8875 | 4S之后停机$/ */ |
| 8876 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 8877 | |
| 8878 | /* 上限位开关故障$/ */ |
| 8879 | } else { |
| 8880 | guard1 = true; |
| 8881 | } |
| 8882 | } |
| 8883 | } else { |
| 8884 | guard1 = true; |
| 8885 | } |
| 8886 | break; |
| 8887 | |
| 8888 | case motor_IN_P10: |
| 8889 | /* During 'P10': '<S1>:68' */ |
| 8890 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 8891 | /* Transition: '<S1>:461' */ |
| 8892 | motor_DWork.is_hy = motor_IN_p11; |
| 8893 | |
| 8894 | /* Entry 'p11': '<S1>:40' */ |
| 8895 | motor_DWork.Encode_Pos0 = motor_DWork.Encode_Pos3; |
| 8896 | motor_DWork.Average_En = 1.0; |
| 8897 | motor_DWork.chu_jd = -20.5; |
| 8898 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 8899 | } else { |
| 8900 | motor_DWork.chu_jd -= 0.003; |
| 8901 | |
| 8902 | /* Inport: '<Root>/JD_In' */ |
| 8903 | /* 电机下行 */ |
| 8904 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 8905 | motor_B.JD_In_f = motor_U.JD_In; |
| 8906 | tmp = motor_DWork.Encode_Pos0; |
| 8907 | if (tmp < 2.147483648E+9) { |
| 8908 | if (tmp >= -2.147483648E+9) { |
| 8909 | saturatedUnaryMinus = (int32_T)tmp; |
| 8910 | } else { |
| 8911 | saturatedUnaryMinus = MIN_int32_T; |
| 8912 | } |
| 8913 | } else { |
| 8914 | saturatedUnaryMinus = MAX_int32_T; |
| 8915 | } |
| 8916 | |
| 8917 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 8918 | |
| 8919 | /* Inport: '<Root>/System_Order' */ |
| 8920 | motor_B.Slect_port_c = motor_U.System_Order; |
| 8921 | |
| 8922 | /* Inport: '<Root>/Encode_Sp' */ |
| 8923 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 8924 | |
| 8925 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 8926 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 8927 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 8928 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 8929 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 8930 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 8931 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 8932 | &motor_DWork.chu_jd); |
| 8933 | |
| 8934 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 8935 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 8936 | tmp = motor_B.Motor_HYDG.KP_e; |
| 8937 | if (tmp < 2.147483648E+9) { |
| 8938 | if (tmp >= -2.147483648E+9) { |
| 8939 | saturatedUnaryMinus = (int32_T)tmp; |
| 8940 | } else { |
| 8941 | saturatedUnaryMinus = MIN_int32_T; |
| 8942 | } |
| 8943 | } else { |
| 8944 | saturatedUnaryMinus = MAX_int32_T; |
| 8945 | } |
| 8946 | |
| 8947 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 8948 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 8949 | if (tmp < 2.147483648E+9) { |
| 8950 | if (tmp >= -2.147483648E+9) { |
| 8951 | saturatedUnaryMinus = (int32_T)tmp; |
| 8952 | } else { |
| 8953 | saturatedUnaryMinus = MIN_int32_T; |
| 8954 | } |
| 8955 | } else { |
| 8956 | saturatedUnaryMinus = MAX_int32_T; |
| 8957 | } |
| 8958 | |
| 8959 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 8960 | |
| 8961 | /* 电机触碰到机械限位 */ |
| 8962 | } |
| 8963 | break; |
| 8964 | |
| 8965 | case motor_IN_P11: |
| 8966 | /* During 'P11': '<S1>:1175' */ |
| 8967 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 8968 | /* Transition: '<S1>:1169' */ |
| 8969 | motor_DWork.is_hy = motor_IN_P2; |
| 8970 | motor_DWork.temporalCounter_i1 = 0U; |
| 8971 | |
| 8972 | /* Entry 'P2': '<S1>:41' */ |
| 8973 | motor_DWork.chu_jd -= 0.01; |
| 8974 | |
| 8975 | /* Inport: '<Root>/JD_In' */ |
| 8976 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 8977 | motor_B.JD_In_f = motor_U.JD_In; |
| 8978 | tmp = motor_DWork.Encode_Pos0; |
| 8979 | if (tmp < 2.147483648E+9) { |
| 8980 | if (tmp >= -2.147483648E+9) { |
| 8981 | saturatedUnaryMinus = (int32_T)tmp; |
| 8982 | } else { |
| 8983 | saturatedUnaryMinus = MIN_int32_T; |
| 8984 | } |
| 8985 | } else { |
| 8986 | saturatedUnaryMinus = MAX_int32_T; |
| 8987 | } |
| 8988 | |
| 8989 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 8990 | |
| 8991 | /* Inport: '<Root>/System_Order' */ |
| 8992 | motor_B.Slect_port_c = motor_U.System_Order; |
| 8993 | |
| 8994 | /* Inport: '<Root>/Encode_Sp' */ |
| 8995 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 8996 | |
| 8997 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 8998 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 8999 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9000 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9001 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9002 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9003 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9004 | &motor_DWork.chu_jd); |
| 9005 | |
| 9006 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9007 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9008 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9009 | if (tmp < 2.147483648E+9) { |
| 9010 | if (tmp >= -2.147483648E+9) { |
| 9011 | saturatedUnaryMinus = (int32_T)tmp; |
| 9012 | } else { |
| 9013 | saturatedUnaryMinus = MIN_int32_T; |
| 9014 | } |
| 9015 | } else { |
| 9016 | saturatedUnaryMinus = MAX_int32_T; |
| 9017 | } |
| 9018 | |
| 9019 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9020 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9021 | if (tmp < 2.147483648E+9) { |
| 9022 | if (tmp >= -2.147483648E+9) { |
| 9023 | saturatedUnaryMinus = (int32_T)tmp; |
| 9024 | } else { |
| 9025 | saturatedUnaryMinus = MIN_int32_T; |
| 9026 | } |
| 9027 | } else { |
| 9028 | saturatedUnaryMinus = MAX_int32_T; |
| 9029 | } |
| 9030 | |
| 9031 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9032 | } |
| 9033 | break; |
| 9034 | |
| 9035 | case motor_IN_P2: |
| 9036 | /* Inport: '<Root>/Encode_Sp' */ |
| 9037 | /* Inport: '<Root>/Down_Limit' */ |
| 9038 | /* During 'P2': '<S1>:41' */ |
| 9039 | if (motor_U.Encode_Sp < 0) { |
| 9040 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9041 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 9042 | saturatedUnaryMinus = MAX_int32_T; |
| 9043 | } else { |
| 9044 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 9045 | } |
| 9046 | } else { |
| 9047 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9048 | } |
| 9049 | |
| 9050 | if ((motor_DWork.temporalCounter_i1 >= (uint32_T)(3.0 / motor_DWork.Ts)) && |
| 9051 | ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min)) { |
| 9052 | /* Transition: '<S1>:458' */ |
| 9053 | /* 等待3S */ |
| 9054 | /* Transition: '<S1>:456' */ |
| 9055 | /* 判断电机是否到达下机械限位 |
| 9056 | 故障(卡死) */ |
| 9057 | motor_DWork.is_hy = motor_IN_P5; |
| 9058 | |
| 9059 | /* Entry 'P5': '<S1>:24' */ |
| 9060 | /* en:PWMOUT=PWM_Value_Up; |
| 9061 | du:PWMOUT=PWM_Value_Up;%电机上行 |
| 9062 | on after(4/Ts,tick):Flag_Down_GZ_limit=0;%下限位开关故障 |
| 9063 | Motor_En=1; |
| 9064 | PWMOUT=PWM_Value_Mid; |
| 9065 | 4S之后停机 */ |
| 9066 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 9067 | |
| 9068 | /* 下限位开关故障 */ |
| 9069 | } else if (motor_U.Down_Limit == 0) { |
| 9070 | /* Transition: '<S1>:459' */ |
| 9071 | /* 下限位开关低电平有效 */ |
| 9072 | motor_DWork.is_hy = motor_IN_P4; |
| 9073 | |
| 9074 | /* Entry 'P4': '<S1>:28' */ |
| 9075 | motor_DWork.chu_jd -= 0.003; |
| 9076 | |
| 9077 | /* Inport: '<Root>/JD_In' */ |
| 9078 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9079 | motor_B.JD_In_f = motor_U.JD_In; |
| 9080 | tmp = motor_DWork.Encode_Pos0; |
| 9081 | if (tmp < 2.147483648E+9) { |
| 9082 | if (tmp >= -2.147483648E+9) { |
| 9083 | saturatedUnaryMinus = (int32_T)tmp; |
| 9084 | } else { |
| 9085 | saturatedUnaryMinus = MIN_int32_T; |
| 9086 | } |
| 9087 | } else { |
| 9088 | saturatedUnaryMinus = MAX_int32_T; |
| 9089 | } |
| 9090 | |
| 9091 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 9092 | |
| 9093 | /* Inport: '<Root>/System_Order' */ |
| 9094 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9095 | |
| 9096 | /* Inport: '<Root>/Encode_Sp' */ |
| 9097 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9098 | |
| 9099 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9100 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9101 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9102 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9103 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9104 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9105 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9106 | &motor_DWork.chu_jd); |
| 9107 | |
| 9108 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9109 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9110 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9111 | if (tmp < 2.147483648E+9) { |
| 9112 | if (tmp >= -2.147483648E+9) { |
| 9113 | saturatedUnaryMinus = (int32_T)tmp; |
| 9114 | } else { |
| 9115 | saturatedUnaryMinus = MIN_int32_T; |
| 9116 | } |
| 9117 | } else { |
| 9118 | saturatedUnaryMinus = MAX_int32_T; |
| 9119 | } |
| 9120 | |
| 9121 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9122 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9123 | if (tmp < 2.147483648E+9) { |
| 9124 | if (tmp >= -2.147483648E+9) { |
| 9125 | saturatedUnaryMinus = (int32_T)tmp; |
| 9126 | } else { |
| 9127 | saturatedUnaryMinus = MIN_int32_T; |
| 9128 | } |
| 9129 | } else { |
| 9130 | saturatedUnaryMinus = MAX_int32_T; |
| 9131 | } |
| 9132 | |
| 9133 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9134 | } else { |
| 9135 | motor_DWork.chu_jd -= 0.01; |
| 9136 | |
| 9137 | /* Inport: '<Root>/JD_In' */ |
| 9138 | /* 电机下行 */ |
| 9139 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9140 | motor_B.JD_In_f = motor_U.JD_In; |
| 9141 | tmp = motor_DWork.Encode_Pos0; |
| 9142 | if (tmp < 2.147483648E+9) { |
| 9143 | if (tmp >= -2.147483648E+9) { |
| 9144 | saturatedUnaryMinus = (int32_T)tmp; |
| 9145 | } else { |
| 9146 | saturatedUnaryMinus = MIN_int32_T; |
| 9147 | } |
| 9148 | } else { |
| 9149 | saturatedUnaryMinus = MAX_int32_T; |
| 9150 | } |
| 9151 | |
| 9152 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 9153 | |
| 9154 | /* Inport: '<Root>/System_Order' */ |
| 9155 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9156 | |
| 9157 | /* Inport: '<Root>/Encode_Sp' */ |
| 9158 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9159 | |
| 9160 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9161 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9162 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9163 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9164 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9165 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9166 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9167 | &motor_DWork.chu_jd); |
| 9168 | |
| 9169 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9170 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9171 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9172 | if (tmp < 2.147483648E+9) { |
| 9173 | if (tmp >= -2.147483648E+9) { |
| 9174 | saturatedUnaryMinus = (int32_T)tmp; |
| 9175 | } else { |
| 9176 | saturatedUnaryMinus = MIN_int32_T; |
| 9177 | } |
| 9178 | } else { |
| 9179 | saturatedUnaryMinus = MAX_int32_T; |
| 9180 | } |
| 9181 | |
| 9182 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9183 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9184 | if (tmp < 2.147483648E+9) { |
| 9185 | if (tmp >= -2.147483648E+9) { |
| 9186 | saturatedUnaryMinus = (int32_T)tmp; |
| 9187 | } else { |
| 9188 | saturatedUnaryMinus = MIN_int32_T; |
| 9189 | } |
| 9190 | } else { |
| 9191 | saturatedUnaryMinus = MAX_int32_T; |
| 9192 | } |
| 9193 | |
| 9194 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9195 | } |
| 9196 | |
| 9197 | /* End of Inport: '<Root>/Down_Limit' */ |
| 9198 | break; |
| 9199 | |
| 9200 | case motor_IN_P3: |
| 9201 | /* During 'P3': '<S1>:26' */ |
| 9202 | /* Transition: '<S1>:1030' */ |
| 9203 | motor_DWork.is_hy = motor_IN_P2; |
| 9204 | motor_DWork.temporalCounter_i1 = 0U; |
| 9205 | |
| 9206 | /* Entry 'P2': '<S1>:41' */ |
| 9207 | motor_DWork.chu_jd -= 0.01; |
| 9208 | |
| 9209 | /* Inport: '<Root>/JD_In' */ |
| 9210 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9211 | motor_B.JD_In_f = motor_U.JD_In; |
| 9212 | tmp = motor_DWork.Encode_Pos0; |
| 9213 | if (tmp < 2.147483648E+9) { |
| 9214 | if (tmp >= -2.147483648E+9) { |
| 9215 | saturatedUnaryMinus = (int32_T)tmp; |
| 9216 | } else { |
| 9217 | saturatedUnaryMinus = MIN_int32_T; |
| 9218 | } |
| 9219 | } else { |
| 9220 | saturatedUnaryMinus = MAX_int32_T; |
| 9221 | } |
| 9222 | |
| 9223 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 9224 | |
| 9225 | /* Inport: '<Root>/System_Order' */ |
| 9226 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9227 | |
| 9228 | /* Inport: '<Root>/Encode_Sp' */ |
| 9229 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9230 | |
| 9231 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9232 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9233 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9234 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9235 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9236 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9237 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9238 | &motor_DWork.chu_jd); |
| 9239 | |
| 9240 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9241 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9242 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9243 | if (tmp < 2.147483648E+9) { |
| 9244 | if (tmp >= -2.147483648E+9) { |
| 9245 | saturatedUnaryMinus = (int32_T)tmp; |
| 9246 | } else { |
| 9247 | saturatedUnaryMinus = MIN_int32_T; |
| 9248 | } |
| 9249 | } else { |
| 9250 | saturatedUnaryMinus = MAX_int32_T; |
| 9251 | } |
| 9252 | |
| 9253 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9254 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9255 | if (tmp < 2.147483648E+9) { |
| 9256 | if (tmp >= -2.147483648E+9) { |
| 9257 | saturatedUnaryMinus = (int32_T)tmp; |
| 9258 | } else { |
| 9259 | saturatedUnaryMinus = MIN_int32_T; |
| 9260 | } |
| 9261 | } else { |
| 9262 | saturatedUnaryMinus = MAX_int32_T; |
| 9263 | } |
| 9264 | |
| 9265 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9266 | break; |
| 9267 | |
| 9268 | case motor_IN_P4: |
| 9269 | /* Inport: '<Root>/Encode_Sp' */ |
| 9270 | /* During 'P4': '<S1>:28' */ |
| 9271 | if (motor_U.Encode_Sp < 0) { |
| 9272 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9273 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 9274 | saturatedUnaryMinus = MAX_int32_T; |
| 9275 | } else { |
| 9276 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 9277 | } |
| 9278 | } else { |
| 9279 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9280 | } |
| 9281 | |
| 9282 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 9283 | /* Transition: '<S1>:460' */ |
| 9284 | /* 判断电机是否到达下机械限位 */ |
| 9285 | motor_DWork.is_hy = motor_IN_P10; |
| 9286 | motor_DWork.temporalCounter_i1 = 0U; |
| 9287 | |
| 9288 | /* Entry 'P10': '<S1>:68' */ |
| 9289 | motor_DWork.chu_jd -= 0.003; |
| 9290 | |
| 9291 | /* Inport: '<Root>/JD_In' */ |
| 9292 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9293 | motor_B.JD_In_f = motor_U.JD_In; |
| 9294 | tmp = motor_DWork.Encode_Pos0; |
| 9295 | if (tmp < 2.147483648E+9) { |
| 9296 | if (tmp >= -2.147483648E+9) { |
| 9297 | saturatedUnaryMinus = (int32_T)tmp; |
| 9298 | } else { |
| 9299 | saturatedUnaryMinus = MIN_int32_T; |
| 9300 | } |
| 9301 | } else { |
| 9302 | saturatedUnaryMinus = MAX_int32_T; |
| 9303 | } |
| 9304 | |
| 9305 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 9306 | |
| 9307 | /* Inport: '<Root>/System_Order' */ |
| 9308 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9309 | |
| 9310 | /* Inport: '<Root>/Encode_Sp' */ |
| 9311 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9312 | |
| 9313 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9314 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9315 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9316 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9317 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9318 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9319 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9320 | &motor_DWork.chu_jd); |
| 9321 | |
| 9322 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9323 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9324 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9325 | if (tmp < 2.147483648E+9) { |
| 9326 | if (tmp >= -2.147483648E+9) { |
| 9327 | saturatedUnaryMinus = (int32_T)tmp; |
| 9328 | } else { |
| 9329 | saturatedUnaryMinus = MIN_int32_T; |
| 9330 | } |
| 9331 | } else { |
| 9332 | saturatedUnaryMinus = MAX_int32_T; |
| 9333 | } |
| 9334 | |
| 9335 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9336 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9337 | if (tmp < 2.147483648E+9) { |
| 9338 | if (tmp >= -2.147483648E+9) { |
| 9339 | saturatedUnaryMinus = (int32_T)tmp; |
| 9340 | } else { |
| 9341 | saturatedUnaryMinus = MIN_int32_T; |
| 9342 | } |
| 9343 | } else { |
| 9344 | saturatedUnaryMinus = MAX_int32_T; |
| 9345 | } |
| 9346 | |
| 9347 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9348 | } else { |
| 9349 | motor_DWork.chu_jd -= 0.003; |
| 9350 | |
| 9351 | /* Inport: '<Root>/JD_In' */ |
| 9352 | /* 电机下行 */ |
| 9353 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9354 | motor_B.JD_In_f = motor_U.JD_In; |
| 9355 | tmp = motor_DWork.Encode_Pos0; |
| 9356 | if (tmp < 2.147483648E+9) { |
| 9357 | if (tmp >= -2.147483648E+9) { |
| 9358 | saturatedUnaryMinus = (int32_T)tmp; |
| 9359 | } else { |
| 9360 | saturatedUnaryMinus = MIN_int32_T; |
| 9361 | } |
| 9362 | } else { |
| 9363 | saturatedUnaryMinus = MAX_int32_T; |
| 9364 | } |
| 9365 | |
| 9366 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 9367 | |
| 9368 | /* Inport: '<Root>/System_Order' */ |
| 9369 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9370 | |
| 9371 | /* Inport: '<Root>/Encode_Sp' */ |
| 9372 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9373 | |
| 9374 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9375 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9376 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9377 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9378 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9379 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9380 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9381 | &motor_DWork.chu_jd); |
| 9382 | |
| 9383 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9384 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9385 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9386 | if (tmp < 2.147483648E+9) { |
| 9387 | if (tmp >= -2.147483648E+9) { |
| 9388 | saturatedUnaryMinus = (int32_T)tmp; |
| 9389 | } else { |
| 9390 | saturatedUnaryMinus = MIN_int32_T; |
| 9391 | } |
| 9392 | } else { |
| 9393 | saturatedUnaryMinus = MAX_int32_T; |
| 9394 | } |
| 9395 | |
| 9396 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9397 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9398 | if (tmp < 2.147483648E+9) { |
| 9399 | if (tmp >= -2.147483648E+9) { |
| 9400 | saturatedUnaryMinus = (int32_T)tmp; |
| 9401 | } else { |
| 9402 | saturatedUnaryMinus = MIN_int32_T; |
| 9403 | } |
| 9404 | } else { |
| 9405 | saturatedUnaryMinus = MAX_int32_T; |
| 9406 | } |
| 9407 | |
| 9408 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9409 | |
| 9410 | /* 电机触碰到机械限位 */ |
| 9411 | } |
| 9412 | break; |
| 9413 | |
| 9414 | case motor_IN_P5: |
| 9415 | /* During 'P5': '<S1>:24' */ |
| 9416 | /* Transition: '<S1>:1029' */ |
| 9417 | motor_DWork.is_hy = motor_IN_p11; |
| 9418 | |
| 9419 | /* Entry 'p11': '<S1>:40' */ |
| 9420 | motor_DWork.Encode_Pos0 = motor_DWork.Encode_Pos3; |
| 9421 | motor_DWork.Average_En = 1.0; |
| 9422 | motor_DWork.chu_jd = -20.5; |
| 9423 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 9424 | break; |
| 9425 | |
| 9426 | case motor_IN_P8: |
| 9427 | /* During 'P8': '<S1>:29' */ |
| 9428 | break; |
| 9429 | |
| 9430 | case motor_IN_p11: |
| 9431 | /* During 'p11': '<S1>:40' */ |
| 9432 | if (fabs(motor_DWork.chu_jd) <= 0.02) { |
| 9433 | /* Transition: '<S1>:463' */ |
| 9434 | motor_DWork.is_hy = motor_IN_p12; |
| 9435 | motor_DWork.temporalCounter_i1 = 0U; |
| 9436 | |
| 9437 | /* Entry 'p12': '<S1>:125' */ |
| 9438 | motor_Y.Motor_En = true; |
| 9439 | |
| 9440 | /* 关电机 */ |
| 9441 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 9442 | } else { |
| 9443 | motor_DWork.chu_jd += 0.01; |
| 9444 | |
| 9445 | /* Inport: '<Root>/JD_In' */ |
| 9446 | /* 电机上行回零点 */ |
| 9447 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9448 | motor_B.JD_In_f = motor_U.JD_In; |
| 9449 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 9450 | |
| 9451 | /* Inport: '<Root>/System_Order' */ |
| 9452 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9453 | |
| 9454 | /* Inport: '<Root>/Encode_Sp' */ |
| 9455 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9456 | |
| 9457 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9458 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9459 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9460 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9461 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9462 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9463 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9464 | &motor_DWork.chu_jd); |
| 9465 | |
| 9466 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9467 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9468 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9469 | if (tmp < 2.147483648E+9) { |
| 9470 | if (tmp >= -2.147483648E+9) { |
| 9471 | saturatedUnaryMinus = (int32_T)tmp; |
| 9472 | } else { |
| 9473 | saturatedUnaryMinus = MIN_int32_T; |
| 9474 | } |
| 9475 | } else { |
| 9476 | saturatedUnaryMinus = MAX_int32_T; |
| 9477 | } |
| 9478 | |
| 9479 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9480 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9481 | if (tmp < 2.147483648E+9) { |
| 9482 | if (tmp >= -2.147483648E+9) { |
| 9483 | saturatedUnaryMinus = (int32_T)tmp; |
| 9484 | } else { |
| 9485 | saturatedUnaryMinus = MIN_int32_T; |
| 9486 | } |
| 9487 | } else { |
| 9488 | saturatedUnaryMinus = MAX_int32_T; |
| 9489 | } |
| 9490 | |
| 9491 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9492 | } |
| 9493 | break; |
| 9494 | |
| 9495 | default: |
| 9496 | /* During 'p12': '<S1>:125' */ |
| 9497 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 9498 | /* Transition: '<S1>:462' */ |
| 9499 | /* Transition: '<S1>:406' */ |
| 9500 | motor_DWork.is_hy = motor_IN_NO_ACTIVE_CHILD; |
| 9501 | motor_DWork.is_Initialize = motor_IN_Check_Reset; |
| 9502 | |
| 9503 | /* Entry 'Check_Reset': '<S1>:71' */ |
| 9504 | motor_Y.Ini_Result = motor_Init_Result_Check(motor_Y.Flag_Cur, |
| 9505 | motor_Y.Flag_Temp_Up, (real_T)motor_Y.Flag_Temp_Down); |
| 9506 | motor_Y.DCZD = true; |
| 9507 | } |
| 9508 | break; |
| 9509 | } |
| 9510 | |
| 9511 | if (guard1) { |
| 9512 | /* Inport: '<Root>/Up_Limit' */ |
| 9513 | if (motor_U.Up_Limit == 0) { |
| 9514 | /* Transition: '<S1>:455' */ |
| 9515 | /* 上限位开关低电平有效 */ |
| 9516 | motor_DWork.is_hy = motor_IN_P11; |
| 9517 | motor_DWork.temporalCounter_i1 = 0U; |
| 9518 | |
| 9519 | /* Entry 'P11': '<S1>:1175' */ |
| 9520 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 9521 | } else { |
| 9522 | motor_DWork.chu_jd += 0.01; |
| 9523 | |
| 9524 | /* Inport: '<Root>/JD_In' */ |
| 9525 | /* 电机上行 */ |
| 9526 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 9527 | motor_B.JD_In_f = motor_U.JD_In; |
| 9528 | tmp = motor_DWork.Encode_Pos0; |
| 9529 | if (tmp < 2.147483648E+9) { |
| 9530 | if (tmp >= -2.147483648E+9) { |
| 9531 | saturatedUnaryMinus = (int32_T)tmp; |
| 9532 | } else { |
| 9533 | saturatedUnaryMinus = MIN_int32_T; |
| 9534 | } |
| 9535 | } else { |
| 9536 | saturatedUnaryMinus = MAX_int32_T; |
| 9537 | } |
| 9538 | |
| 9539 | motor_B.Encode_Pos_i = saturatedUnaryMinus; |
| 9540 | |
| 9541 | /* Inport: '<Root>/System_Order' */ |
| 9542 | motor_B.Slect_port_c = motor_U.System_Order; |
| 9543 | |
| 9544 | /* Inport: '<Root>/Encode_Sp' */ |
| 9545 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 9546 | |
| 9547 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 9548 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 9549 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 9550 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 9551 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 9552 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 9553 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9554 | &motor_DWork.chu_jd); |
| 9555 | |
| 9556 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 9557 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 9558 | tmp = motor_B.Motor_HYDG.KP_e; |
| 9559 | if (tmp < 2.147483648E+9) { |
| 9560 | if (tmp >= -2.147483648E+9) { |
| 9561 | saturatedUnaryMinus = (int32_T)tmp; |
| 9562 | } else { |
| 9563 | saturatedUnaryMinus = MIN_int32_T; |
| 9564 | } |
| 9565 | } else { |
| 9566 | saturatedUnaryMinus = MAX_int32_T; |
| 9567 | } |
| 9568 | |
| 9569 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9570 | tmp = motor_B.Motor_HYDG.KP_JD; |
| 9571 | if (tmp < 2.147483648E+9) { |
| 9572 | if (tmp >= -2.147483648E+9) { |
| 9573 | saturatedUnaryMinus = (int32_T)tmp; |
| 9574 | } else { |
| 9575 | saturatedUnaryMinus = MIN_int32_T; |
| 9576 | } |
| 9577 | } else { |
| 9578 | saturatedUnaryMinus = MAX_int32_T; |
| 9579 | } |
| 9580 | |
| 9581 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9582 | } |
| 9583 | |
| 9584 | /* End of Inport: '<Root>/Up_Limit' */ |
| 9585 | } |
| 9586 | } |
| 9587 | |
| 9588 | /* Function for Chart: '<Root>/Chart' */ |
| 9589 | static void motor_xhhy(void) |
| 9590 | { |
| 9591 | boolean_T guard1 = false; |
| 9592 | uint16_T tmp; |
| 9593 | real_T tmp_0; |
| 9594 | int32_T saturatedUnaryMinus; |
| 9595 | |
| 9596 | /* During 'xhhy': '<S1>:65' */ |
| 9597 | switch (motor_DWork.is_xhhy) { |
| 9598 | case motor_IN_P1: |
| 9599 | /* Inport: '<Root>/Up_Limit' incorporates: |
| 9600 | * Inport: '<Root>/Encode_Sp' |
| 9601 | */ |
| 9602 | /* During 'P1': '<S1>:25' */ |
| 9603 | if (motor_U.Up_Limit == 0) { |
| 9604 | /* Transition: '<S1>:468' */ |
| 9605 | /* 上限位开关低电平有效 */ |
| 9606 | motor_DWork.is_xhhy = motor_IN_P10; |
| 9607 | |
| 9608 | /* Entry 'P10': '<S1>:30' */ |
| 9609 | motor_DWork.chu_jd += 0.003; |
| 9610 | |
| 9611 | /* Inport: '<Root>/JD_In' */ |
| 9612 | /* 电机上行 */ |
| 9613 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 9614 | motor_B.JD_In = motor_U.JD_In; |
| 9615 | tmp_0 = motor_DWork.Encode_Pos0; |
| 9616 | if (tmp_0 < 2.147483648E+9) { |
| 9617 | if (tmp_0 >= -2.147483648E+9) { |
| 9618 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9619 | } else { |
| 9620 | saturatedUnaryMinus = MIN_int32_T; |
| 9621 | } |
| 9622 | } else { |
| 9623 | saturatedUnaryMinus = MAX_int32_T; |
| 9624 | } |
| 9625 | |
| 9626 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 9627 | |
| 9628 | /* Inport: '<Root>/Encode_Sp' */ |
| 9629 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 9630 | |
| 9631 | /* Inport: '<Root>/System_Order' */ |
| 9632 | motor_B.Slect_port = motor_U.System_Order; |
| 9633 | |
| 9634 | /* Inport: '<Root>/SGWY_In' */ |
| 9635 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 9636 | |
| 9637 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 9638 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 9639 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 9640 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 9641 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 9642 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 9643 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 9644 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 9645 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9646 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 9647 | &motor_DWork.chu_jd); |
| 9648 | |
| 9649 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 9650 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 9651 | if (tmp_0 < 65536.0) { |
| 9652 | if (tmp_0 >= 0.0) { |
| 9653 | tmp = (uint16_T)tmp_0; |
| 9654 | } else { |
| 9655 | tmp = 0U; |
| 9656 | } |
| 9657 | } else { |
| 9658 | tmp = MAX_uint16_T; |
| 9659 | } |
| 9660 | |
| 9661 | motor_Y.PWMOUT = tmp; |
| 9662 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 9663 | if (tmp_0 < 2.147483648E+9) { |
| 9664 | if (tmp_0 >= -2.147483648E+9) { |
| 9665 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9666 | } else { |
| 9667 | saturatedUnaryMinus = MIN_int32_T; |
| 9668 | } |
| 9669 | } else { |
| 9670 | saturatedUnaryMinus = MAX_int32_T; |
| 9671 | } |
| 9672 | |
| 9673 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9674 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 9675 | if (tmp_0 < 2.147483648E+9) { |
| 9676 | if (tmp_0 >= -2.147483648E+9) { |
| 9677 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9678 | } else { |
| 9679 | saturatedUnaryMinus = MIN_int32_T; |
| 9680 | } |
| 9681 | } else { |
| 9682 | saturatedUnaryMinus = MAX_int32_T; |
| 9683 | } |
| 9684 | |
| 9685 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9686 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(2.0 / motor_DWork.Ts)) |
| 9687 | { |
| 9688 | /* Transition: '<S1>:465' */ |
| 9689 | /* 等待2S */ |
| 9690 | if (motor_DWork.Encode_Pos0 <= 293092.0) { |
| 9691 | /* Transition: '<S1>:466' */ |
| 9692 | /* 293092为2.5度 */ |
| 9693 | motor_DWork.is_xhhy = motor_IN_P8_e; |
| 9694 | |
| 9695 | /* Entry 'P8': '<S1>:31' */ |
| 9696 | motor_Y.Flag_Motor_Error = 0U; |
| 9697 | |
| 9698 | /* 电机故障,不能正转 |
| 9699 | Motor_En=1; |
| 9700 | 电机失能,关 */ |
| 9701 | } else { |
| 9702 | if (motor_U.Encode_Sp < 0) { |
| 9703 | /* Inport: '<Root>/Encode_Sp' */ |
| 9704 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9705 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 9706 | saturatedUnaryMinus = MAX_int32_T; |
| 9707 | } else { |
| 9708 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 9709 | } |
| 9710 | } else { |
| 9711 | /* Inport: '<Root>/Encode_Sp' */ |
| 9712 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9713 | } |
| 9714 | |
| 9715 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 9716 | /* Transition: '<S1>:467' */ |
| 9717 | /* 判断电机是否到达上机械限位 |
| 9718 | 故障(卡死) |
| 9719 | 编码器故障 */ |
| 9720 | motor_DWork.is_xhhy = motor_IN_P3_k; |
| 9721 | |
| 9722 | /* Entry 'P3': '<S1>:114' */ |
| 9723 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 9724 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 9725 | |
| 9726 | /* 上限位开关故障$/ |
| 9727 | Motor_En=1; |
| 9728 | 电机失能,关 |
| 9729 | PWMOUT=PWM_Value_Mid; |
| 9730 | 4S之后停机$/ */ |
| 9731 | } else { |
| 9732 | guard1 = true; |
| 9733 | } |
| 9734 | } |
| 9735 | } else { |
| 9736 | guard1 = true; |
| 9737 | } |
| 9738 | |
| 9739 | /* End of Inport: '<Root>/Up_Limit' */ |
| 9740 | break; |
| 9741 | |
| 9742 | case motor_IN_P10: |
| 9743 | /* Inport: '<Root>/Encode_Sp' */ |
| 9744 | /* During 'P10': '<S1>:30' */ |
| 9745 | if (motor_U.Encode_Sp < 0) { |
| 9746 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9747 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 9748 | saturatedUnaryMinus = MAX_int32_T; |
| 9749 | } else { |
| 9750 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 9751 | } |
| 9752 | } else { |
| 9753 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 9754 | } |
| 9755 | |
| 9756 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 9757 | /* Transition: '<S1>:469' */ |
| 9758 | /* 判断电机是否到达上机械限位 */ |
| 9759 | motor_DWork.is_xhhy = motor_IN_P12; |
| 9760 | motor_DWork.temporalCounter_i1 = 0U; |
| 9761 | |
| 9762 | /* Entry 'P12': '<S1>:1172' */ |
| 9763 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 9764 | } else { |
| 9765 | motor_DWork.chu_jd += 0.003; |
| 9766 | |
| 9767 | /* Inport: '<Root>/JD_In' */ |
| 9768 | /* 电机上行 */ |
| 9769 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 9770 | motor_B.JD_In = motor_U.JD_In; |
| 9771 | tmp_0 = motor_DWork.Encode_Pos0; |
| 9772 | if (tmp_0 < 2.147483648E+9) { |
| 9773 | if (tmp_0 >= -2.147483648E+9) { |
| 9774 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9775 | } else { |
| 9776 | saturatedUnaryMinus = MIN_int32_T; |
| 9777 | } |
| 9778 | } else { |
| 9779 | saturatedUnaryMinus = MAX_int32_T; |
| 9780 | } |
| 9781 | |
| 9782 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 9783 | |
| 9784 | /* Inport: '<Root>/Encode_Sp' */ |
| 9785 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 9786 | |
| 9787 | /* Inport: '<Root>/System_Order' */ |
| 9788 | motor_B.Slect_port = motor_U.System_Order; |
| 9789 | |
| 9790 | /* Inport: '<Root>/SGWY_In' */ |
| 9791 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 9792 | |
| 9793 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 9794 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 9795 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 9796 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 9797 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 9798 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 9799 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 9800 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 9801 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9802 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 9803 | &motor_DWork.chu_jd); |
| 9804 | |
| 9805 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 9806 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 9807 | if (tmp_0 < 65536.0) { |
| 9808 | if (tmp_0 >= 0.0) { |
| 9809 | tmp = (uint16_T)tmp_0; |
| 9810 | } else { |
| 9811 | tmp = 0U; |
| 9812 | } |
| 9813 | } else { |
| 9814 | tmp = MAX_uint16_T; |
| 9815 | } |
| 9816 | |
| 9817 | motor_Y.PWMOUT = tmp; |
| 9818 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 9819 | if (tmp_0 < 2.147483648E+9) { |
| 9820 | if (tmp_0 >= -2.147483648E+9) { |
| 9821 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9822 | } else { |
| 9823 | saturatedUnaryMinus = MIN_int32_T; |
| 9824 | } |
| 9825 | } else { |
| 9826 | saturatedUnaryMinus = MAX_int32_T; |
| 9827 | } |
| 9828 | |
| 9829 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9830 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 9831 | if (tmp_0 < 2.147483648E+9) { |
| 9832 | if (tmp_0 >= -2.147483648E+9) { |
| 9833 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9834 | } else { |
| 9835 | saturatedUnaryMinus = MIN_int32_T; |
| 9836 | } |
| 9837 | } else { |
| 9838 | saturatedUnaryMinus = MAX_int32_T; |
| 9839 | } |
| 9840 | |
| 9841 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9842 | |
| 9843 | /* 电机触碰到机械上限位 */ |
| 9844 | } |
| 9845 | break; |
| 9846 | |
| 9847 | case motor_IN_P11: |
| 9848 | /* During 'P11': '<S1>:34' */ |
| 9849 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 9850 | /* Transition: '<S1>:475' */ |
| 9851 | motor_DWork.is_xhhy = motor_IN_p10; |
| 9852 | |
| 9853 | /* Entry 'p10': '<S1>:61' */ |
| 9854 | motor_DWork.Encode_Pos0 = motor_DWork.Encode_Pos2; |
| 9855 | motor_DWork.Average_En = 1.0; |
| 9856 | |
| 9857 | /* chu_jd = Angle_Calculation_XH(Encode_Pos); */ |
| 9858 | motor_DWork.chu_jd = -20.5; |
| 9859 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 9860 | } else { |
| 9861 | motor_DWork.chu_jd -= 0.003; |
| 9862 | |
| 9863 | /* Inport: '<Root>/JD_In' */ |
| 9864 | /* 电机下行 */ |
| 9865 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 9866 | motor_B.JD_In = motor_U.JD_In; |
| 9867 | tmp_0 = motor_DWork.Encode_Pos0; |
| 9868 | if (tmp_0 < 2.147483648E+9) { |
| 9869 | if (tmp_0 >= -2.147483648E+9) { |
| 9870 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9871 | } else { |
| 9872 | saturatedUnaryMinus = MIN_int32_T; |
| 9873 | } |
| 9874 | } else { |
| 9875 | saturatedUnaryMinus = MAX_int32_T; |
| 9876 | } |
| 9877 | |
| 9878 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 9879 | |
| 9880 | /* Inport: '<Root>/Encode_Sp' */ |
| 9881 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 9882 | |
| 9883 | /* Inport: '<Root>/System_Order' */ |
| 9884 | motor_B.Slect_port = motor_U.System_Order; |
| 9885 | |
| 9886 | /* Inport: '<Root>/SGWY_In' */ |
| 9887 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 9888 | |
| 9889 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 9890 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 9891 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 9892 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 9893 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 9894 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 9895 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 9896 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 9897 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9898 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 9899 | &motor_DWork.chu_jd); |
| 9900 | |
| 9901 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 9902 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 9903 | if (tmp_0 < 65536.0) { |
| 9904 | if (tmp_0 >= 0.0) { |
| 9905 | tmp = (uint16_T)tmp_0; |
| 9906 | } else { |
| 9907 | tmp = 0U; |
| 9908 | } |
| 9909 | } else { |
| 9910 | tmp = MAX_uint16_T; |
| 9911 | } |
| 9912 | |
| 9913 | motor_Y.PWMOUT = tmp; |
| 9914 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 9915 | if (tmp_0 < 2.147483648E+9) { |
| 9916 | if (tmp_0 >= -2.147483648E+9) { |
| 9917 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9918 | } else { |
| 9919 | saturatedUnaryMinus = MIN_int32_T; |
| 9920 | } |
| 9921 | } else { |
| 9922 | saturatedUnaryMinus = MAX_int32_T; |
| 9923 | } |
| 9924 | |
| 9925 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 9926 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 9927 | if (tmp_0 < 2.147483648E+9) { |
| 9928 | if (tmp_0 >= -2.147483648E+9) { |
| 9929 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9930 | } else { |
| 9931 | saturatedUnaryMinus = MIN_int32_T; |
| 9932 | } |
| 9933 | } else { |
| 9934 | saturatedUnaryMinus = MAX_int32_T; |
| 9935 | } |
| 9936 | |
| 9937 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 9938 | |
| 9939 | /* 电机触碰到机械限位 */ |
| 9940 | } |
| 9941 | break; |
| 9942 | |
| 9943 | case motor_IN_P12: |
| 9944 | /* During 'P12': '<S1>:1172' */ |
| 9945 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 9946 | /* Transition: '<S1>:1174' */ |
| 9947 | motor_DWork.is_xhhy = motor_IN_P2_a; |
| 9948 | motor_DWork.temporalCounter_i1 = 0U; |
| 9949 | |
| 9950 | /* Entry 'P2': '<S1>:69' */ |
| 9951 | motor_DWork.chu_jd -= 0.01; |
| 9952 | |
| 9953 | /* Inport: '<Root>/JD_In' */ |
| 9954 | /* 电机下行 */ |
| 9955 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 9956 | motor_B.JD_In = motor_U.JD_In; |
| 9957 | tmp_0 = motor_DWork.Encode_Pos0; |
| 9958 | if (tmp_0 < 2.147483648E+9) { |
| 9959 | if (tmp_0 >= -2.147483648E+9) { |
| 9960 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 9961 | } else { |
| 9962 | saturatedUnaryMinus = MIN_int32_T; |
| 9963 | } |
| 9964 | } else { |
| 9965 | saturatedUnaryMinus = MAX_int32_T; |
| 9966 | } |
| 9967 | |
| 9968 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 9969 | |
| 9970 | /* Inport: '<Root>/Encode_Sp' */ |
| 9971 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 9972 | |
| 9973 | /* Inport: '<Root>/System_Order' */ |
| 9974 | motor_B.Slect_port = motor_U.System_Order; |
| 9975 | |
| 9976 | /* Inport: '<Root>/SGWY_In' */ |
| 9977 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 9978 | |
| 9979 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 9980 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 9981 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 9982 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 9983 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 9984 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 9985 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 9986 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 9987 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 9988 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 9989 | &motor_DWork.chu_jd); |
| 9990 | |
| 9991 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 9992 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 9993 | if (tmp_0 < 65536.0) { |
| 9994 | if (tmp_0 >= 0.0) { |
| 9995 | tmp = (uint16_T)tmp_0; |
| 9996 | } else { |
| 9997 | tmp = 0U; |
| 9998 | } |
| 9999 | } else { |
| 10000 | tmp = MAX_uint16_T; |
| 10001 | } |
| 10002 | |
| 10003 | motor_Y.PWMOUT = tmp; |
| 10004 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10005 | if (tmp_0 < 2.147483648E+9) { |
| 10006 | if (tmp_0 >= -2.147483648E+9) { |
| 10007 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10008 | } else { |
| 10009 | saturatedUnaryMinus = MIN_int32_T; |
| 10010 | } |
| 10011 | } else { |
| 10012 | saturatedUnaryMinus = MAX_int32_T; |
| 10013 | } |
| 10014 | |
| 10015 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10016 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10017 | if (tmp_0 < 2.147483648E+9) { |
| 10018 | if (tmp_0 >= -2.147483648E+9) { |
| 10019 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10020 | } else { |
| 10021 | saturatedUnaryMinus = MIN_int32_T; |
| 10022 | } |
| 10023 | } else { |
| 10024 | saturatedUnaryMinus = MAX_int32_T; |
| 10025 | } |
| 10026 | |
| 10027 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10028 | } |
| 10029 | break; |
| 10030 | |
| 10031 | case motor_IN_P2_a: |
| 10032 | /* Inport: '<Root>/Encode_Sp' */ |
| 10033 | /* Inport: '<Root>/Down_Limit' */ |
| 10034 | /* During 'P2': '<S1>:69' */ |
| 10035 | if (motor_U.Encode_Sp < 0) { |
| 10036 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 10037 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 10038 | saturatedUnaryMinus = MAX_int32_T; |
| 10039 | } else { |
| 10040 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 10041 | } |
| 10042 | } else { |
| 10043 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 10044 | } |
| 10045 | |
| 10046 | if ((motor_DWork.temporalCounter_i1 >= (uint32_T)(3.0 / motor_DWork.Ts)) && |
| 10047 | ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min)) { |
| 10048 | /* Transition: '<S1>:470' */ |
| 10049 | /* 等待3S */ |
| 10050 | /* Transition: '<S1>:471' */ |
| 10051 | /* 判断电机是否到达下机械限位 |
| 10052 | 故障(卡死) */ |
| 10053 | motor_DWork.is_xhhy = motor_IN_P5_n; |
| 10054 | |
| 10055 | /* Entry 'P5': '<S1>:33' */ |
| 10056 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 10057 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 10058 | |
| 10059 | /* 下限位开关故障 |
| 10060 | Motor_En=1; |
| 10061 | PWMOUT=PWM_Value_Mid; |
| 10062 | 4S之后停机 */ |
| 10063 | } else if (motor_U.Down_Limit == 0) { |
| 10064 | /* Transition: '<S1>:473' */ |
| 10065 | /* 下限位开关低电平有效 */ |
| 10066 | motor_DWork.is_xhhy = motor_IN_P4_o; |
| 10067 | |
| 10068 | /* Entry 'P4': '<S1>:38' */ |
| 10069 | motor_DWork.chu_jd -= 0.003; |
| 10070 | |
| 10071 | /* Inport: '<Root>/JD_In' */ |
| 10072 | /* 电机下行 */ |
| 10073 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10074 | motor_B.JD_In = motor_U.JD_In; |
| 10075 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10076 | if (tmp_0 < 2.147483648E+9) { |
| 10077 | if (tmp_0 >= -2.147483648E+9) { |
| 10078 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10079 | } else { |
| 10080 | saturatedUnaryMinus = MIN_int32_T; |
| 10081 | } |
| 10082 | } else { |
| 10083 | saturatedUnaryMinus = MAX_int32_T; |
| 10084 | } |
| 10085 | |
| 10086 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10087 | |
| 10088 | /* Inport: '<Root>/Encode_Sp' */ |
| 10089 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10090 | |
| 10091 | /* Inport: '<Root>/System_Order' */ |
| 10092 | motor_B.Slect_port = motor_U.System_Order; |
| 10093 | |
| 10094 | /* Inport: '<Root>/SGWY_In' */ |
| 10095 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10096 | |
| 10097 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10098 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10099 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10100 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10101 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10102 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10103 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10104 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10105 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10106 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10107 | &motor_DWork.chu_jd); |
| 10108 | |
| 10109 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10110 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10111 | if (tmp_0 < 65536.0) { |
| 10112 | if (tmp_0 >= 0.0) { |
| 10113 | tmp = (uint16_T)tmp_0; |
| 10114 | } else { |
| 10115 | tmp = 0U; |
| 10116 | } |
| 10117 | } else { |
| 10118 | tmp = MAX_uint16_T; |
| 10119 | } |
| 10120 | |
| 10121 | motor_Y.PWMOUT = tmp; |
| 10122 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10123 | if (tmp_0 < 2.147483648E+9) { |
| 10124 | if (tmp_0 >= -2.147483648E+9) { |
| 10125 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10126 | } else { |
| 10127 | saturatedUnaryMinus = MIN_int32_T; |
| 10128 | } |
| 10129 | } else { |
| 10130 | saturatedUnaryMinus = MAX_int32_T; |
| 10131 | } |
| 10132 | |
| 10133 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10134 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10135 | if (tmp_0 < 2.147483648E+9) { |
| 10136 | if (tmp_0 >= -2.147483648E+9) { |
| 10137 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10138 | } else { |
| 10139 | saturatedUnaryMinus = MIN_int32_T; |
| 10140 | } |
| 10141 | } else { |
| 10142 | saturatedUnaryMinus = MAX_int32_T; |
| 10143 | } |
| 10144 | |
| 10145 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10146 | } else { |
| 10147 | motor_DWork.chu_jd -= 0.01; |
| 10148 | |
| 10149 | /* Inport: '<Root>/JD_In' */ |
| 10150 | /* 电机下行 */ |
| 10151 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10152 | motor_B.JD_In = motor_U.JD_In; |
| 10153 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10154 | if (tmp_0 < 2.147483648E+9) { |
| 10155 | if (tmp_0 >= -2.147483648E+9) { |
| 10156 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10157 | } else { |
| 10158 | saturatedUnaryMinus = MIN_int32_T; |
| 10159 | } |
| 10160 | } else { |
| 10161 | saturatedUnaryMinus = MAX_int32_T; |
| 10162 | } |
| 10163 | |
| 10164 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10165 | |
| 10166 | /* Inport: '<Root>/Encode_Sp' */ |
| 10167 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10168 | |
| 10169 | /* Inport: '<Root>/System_Order' */ |
| 10170 | motor_B.Slect_port = motor_U.System_Order; |
| 10171 | |
| 10172 | /* Inport: '<Root>/SGWY_In' */ |
| 10173 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10174 | |
| 10175 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10176 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10177 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10178 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10179 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10180 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10181 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10182 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10183 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10184 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10185 | &motor_DWork.chu_jd); |
| 10186 | |
| 10187 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10188 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10189 | if (tmp_0 < 65536.0) { |
| 10190 | if (tmp_0 >= 0.0) { |
| 10191 | tmp = (uint16_T)tmp_0; |
| 10192 | } else { |
| 10193 | tmp = 0U; |
| 10194 | } |
| 10195 | } else { |
| 10196 | tmp = MAX_uint16_T; |
| 10197 | } |
| 10198 | |
| 10199 | motor_Y.PWMOUT = tmp; |
| 10200 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10201 | if (tmp_0 < 2.147483648E+9) { |
| 10202 | if (tmp_0 >= -2.147483648E+9) { |
| 10203 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10204 | } else { |
| 10205 | saturatedUnaryMinus = MIN_int32_T; |
| 10206 | } |
| 10207 | } else { |
| 10208 | saturatedUnaryMinus = MAX_int32_T; |
| 10209 | } |
| 10210 | |
| 10211 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10212 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10213 | if (tmp_0 < 2.147483648E+9) { |
| 10214 | if (tmp_0 >= -2.147483648E+9) { |
| 10215 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10216 | } else { |
| 10217 | saturatedUnaryMinus = MIN_int32_T; |
| 10218 | } |
| 10219 | } else { |
| 10220 | saturatedUnaryMinus = MAX_int32_T; |
| 10221 | } |
| 10222 | |
| 10223 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10224 | } |
| 10225 | |
| 10226 | /* End of Inport: '<Root>/Down_Limit' */ |
| 10227 | break; |
| 10228 | |
| 10229 | case motor_IN_P3_k: |
| 10230 | /* During 'P3': '<S1>:114' */ |
| 10231 | /* Transition: '<S1>:1032' */ |
| 10232 | motor_DWork.is_xhhy = motor_IN_P2_a; |
| 10233 | motor_DWork.temporalCounter_i1 = 0U; |
| 10234 | |
| 10235 | /* Entry 'P2': '<S1>:69' */ |
| 10236 | motor_DWork.chu_jd -= 0.01; |
| 10237 | |
| 10238 | /* Inport: '<Root>/JD_In' */ |
| 10239 | /* 电机下行 */ |
| 10240 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10241 | motor_B.JD_In = motor_U.JD_In; |
| 10242 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10243 | if (tmp_0 < 2.147483648E+9) { |
| 10244 | if (tmp_0 >= -2.147483648E+9) { |
| 10245 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10246 | } else { |
| 10247 | saturatedUnaryMinus = MIN_int32_T; |
| 10248 | } |
| 10249 | } else { |
| 10250 | saturatedUnaryMinus = MAX_int32_T; |
| 10251 | } |
| 10252 | |
| 10253 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10254 | |
| 10255 | /* Inport: '<Root>/Encode_Sp' */ |
| 10256 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10257 | |
| 10258 | /* Inport: '<Root>/System_Order' */ |
| 10259 | motor_B.Slect_port = motor_U.System_Order; |
| 10260 | |
| 10261 | /* Inport: '<Root>/SGWY_In' */ |
| 10262 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10263 | |
| 10264 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10265 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10266 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10267 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10268 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10269 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10270 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10271 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10272 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 10273 | &motor_DWork.V_KI, &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 10274 | |
| 10275 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10276 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10277 | if (tmp_0 < 65536.0) { |
| 10278 | if (tmp_0 >= 0.0) { |
| 10279 | tmp = (uint16_T)tmp_0; |
| 10280 | } else { |
| 10281 | tmp = 0U; |
| 10282 | } |
| 10283 | } else { |
| 10284 | tmp = MAX_uint16_T; |
| 10285 | } |
| 10286 | |
| 10287 | motor_Y.PWMOUT = tmp; |
| 10288 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10289 | if (tmp_0 < 2.147483648E+9) { |
| 10290 | if (tmp_0 >= -2.147483648E+9) { |
| 10291 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10292 | } else { |
| 10293 | saturatedUnaryMinus = MIN_int32_T; |
| 10294 | } |
| 10295 | } else { |
| 10296 | saturatedUnaryMinus = MAX_int32_T; |
| 10297 | } |
| 10298 | |
| 10299 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10300 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10301 | if (tmp_0 < 2.147483648E+9) { |
| 10302 | if (tmp_0 >= -2.147483648E+9) { |
| 10303 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10304 | } else { |
| 10305 | saturatedUnaryMinus = MIN_int32_T; |
| 10306 | } |
| 10307 | } else { |
| 10308 | saturatedUnaryMinus = MAX_int32_T; |
| 10309 | } |
| 10310 | |
| 10311 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10312 | break; |
| 10313 | |
| 10314 | case motor_IN_P4_o: |
| 10315 | /* Inport: '<Root>/Encode_Sp' */ |
| 10316 | /* During 'P4': '<S1>:38' */ |
| 10317 | if (motor_U.Encode_Sp < 0) { |
| 10318 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 10319 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 10320 | saturatedUnaryMinus = MAX_int32_T; |
| 10321 | } else { |
| 10322 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 10323 | } |
| 10324 | } else { |
| 10325 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 10326 | } |
| 10327 | |
| 10328 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 10329 | /* Transition: '<S1>:474' */ |
| 10330 | /* 判断电机是否到达下机械限位 */ |
| 10331 | motor_DWork.is_xhhy = motor_IN_P11; |
| 10332 | motor_DWork.temporalCounter_i1 = 0U; |
| 10333 | |
| 10334 | /* Entry 'P11': '<S1>:34' */ |
| 10335 | motor_DWork.chu_jd -= 0.003; |
| 10336 | |
| 10337 | /* Inport: '<Root>/JD_In' */ |
| 10338 | /* 电机下行 */ |
| 10339 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10340 | motor_B.JD_In = motor_U.JD_In; |
| 10341 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10342 | if (tmp_0 < 2.147483648E+9) { |
| 10343 | if (tmp_0 >= -2.147483648E+9) { |
| 10344 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10345 | } else { |
| 10346 | saturatedUnaryMinus = MIN_int32_T; |
| 10347 | } |
| 10348 | } else { |
| 10349 | saturatedUnaryMinus = MAX_int32_T; |
| 10350 | } |
| 10351 | |
| 10352 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10353 | |
| 10354 | /* Inport: '<Root>/Encode_Sp' */ |
| 10355 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10356 | |
| 10357 | /* Inport: '<Root>/System_Order' */ |
| 10358 | motor_B.Slect_port = motor_U.System_Order; |
| 10359 | |
| 10360 | /* Inport: '<Root>/SGWY_In' */ |
| 10361 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10362 | |
| 10363 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10364 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10365 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10366 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10367 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10368 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10369 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10370 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10371 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10372 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10373 | &motor_DWork.chu_jd); |
| 10374 | |
| 10375 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10376 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10377 | if (tmp_0 < 65536.0) { |
| 10378 | if (tmp_0 >= 0.0) { |
| 10379 | tmp = (uint16_T)tmp_0; |
| 10380 | } else { |
| 10381 | tmp = 0U; |
| 10382 | } |
| 10383 | } else { |
| 10384 | tmp = MAX_uint16_T; |
| 10385 | } |
| 10386 | |
| 10387 | motor_Y.PWMOUT = tmp; |
| 10388 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10389 | if (tmp_0 < 2.147483648E+9) { |
| 10390 | if (tmp_0 >= -2.147483648E+9) { |
| 10391 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10392 | } else { |
| 10393 | saturatedUnaryMinus = MIN_int32_T; |
| 10394 | } |
| 10395 | } else { |
| 10396 | saturatedUnaryMinus = MAX_int32_T; |
| 10397 | } |
| 10398 | |
| 10399 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10400 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10401 | if (tmp_0 < 2.147483648E+9) { |
| 10402 | if (tmp_0 >= -2.147483648E+9) { |
| 10403 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10404 | } else { |
| 10405 | saturatedUnaryMinus = MIN_int32_T; |
| 10406 | } |
| 10407 | } else { |
| 10408 | saturatedUnaryMinus = MAX_int32_T; |
| 10409 | } |
| 10410 | |
| 10411 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10412 | } else { |
| 10413 | motor_DWork.chu_jd -= 0.003; |
| 10414 | |
| 10415 | /* Inport: '<Root>/JD_In' */ |
| 10416 | /* 电机下行 */ |
| 10417 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10418 | motor_B.JD_In = motor_U.JD_In; |
| 10419 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10420 | if (tmp_0 < 2.147483648E+9) { |
| 10421 | if (tmp_0 >= -2.147483648E+9) { |
| 10422 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10423 | } else { |
| 10424 | saturatedUnaryMinus = MIN_int32_T; |
| 10425 | } |
| 10426 | } else { |
| 10427 | saturatedUnaryMinus = MAX_int32_T; |
| 10428 | } |
| 10429 | |
| 10430 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10431 | |
| 10432 | /* Inport: '<Root>/Encode_Sp' */ |
| 10433 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10434 | |
| 10435 | /* Inport: '<Root>/System_Order' */ |
| 10436 | motor_B.Slect_port = motor_U.System_Order; |
| 10437 | |
| 10438 | /* Inport: '<Root>/SGWY_In' */ |
| 10439 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10440 | |
| 10441 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10442 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10443 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10444 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10445 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10446 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10447 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10448 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10449 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10450 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10451 | &motor_DWork.chu_jd); |
| 10452 | |
| 10453 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10454 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10455 | if (tmp_0 < 65536.0) { |
| 10456 | if (tmp_0 >= 0.0) { |
| 10457 | tmp = (uint16_T)tmp_0; |
| 10458 | } else { |
| 10459 | tmp = 0U; |
| 10460 | } |
| 10461 | } else { |
| 10462 | tmp = MAX_uint16_T; |
| 10463 | } |
| 10464 | |
| 10465 | motor_Y.PWMOUT = tmp; |
| 10466 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10467 | if (tmp_0 < 2.147483648E+9) { |
| 10468 | if (tmp_0 >= -2.147483648E+9) { |
| 10469 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10470 | } else { |
| 10471 | saturatedUnaryMinus = MIN_int32_T; |
| 10472 | } |
| 10473 | } else { |
| 10474 | saturatedUnaryMinus = MAX_int32_T; |
| 10475 | } |
| 10476 | |
| 10477 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10478 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10479 | if (tmp_0 < 2.147483648E+9) { |
| 10480 | if (tmp_0 >= -2.147483648E+9) { |
| 10481 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10482 | } else { |
| 10483 | saturatedUnaryMinus = MIN_int32_T; |
| 10484 | } |
| 10485 | } else { |
| 10486 | saturatedUnaryMinus = MAX_int32_T; |
| 10487 | } |
| 10488 | |
| 10489 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10490 | |
| 10491 | /* 电机触碰到机械限位 */ |
| 10492 | } |
| 10493 | break; |
| 10494 | |
| 10495 | case motor_IN_P5_n: |
| 10496 | /* During 'P5': '<S1>:33' */ |
| 10497 | /* Transition: '<S1>:1033' */ |
| 10498 | motor_DWork.is_xhhy = motor_IN_P11; |
| 10499 | motor_DWork.temporalCounter_i1 = 0U; |
| 10500 | |
| 10501 | /* Entry 'P11': '<S1>:34' */ |
| 10502 | motor_DWork.chu_jd -= 0.003; |
| 10503 | |
| 10504 | /* Inport: '<Root>/JD_In' */ |
| 10505 | /* 电机下行 */ |
| 10506 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10507 | motor_B.JD_In = motor_U.JD_In; |
| 10508 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10509 | if (tmp_0 < 2.147483648E+9) { |
| 10510 | if (tmp_0 >= -2.147483648E+9) { |
| 10511 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10512 | } else { |
| 10513 | saturatedUnaryMinus = MIN_int32_T; |
| 10514 | } |
| 10515 | } else { |
| 10516 | saturatedUnaryMinus = MAX_int32_T; |
| 10517 | } |
| 10518 | |
| 10519 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10520 | |
| 10521 | /* Inport: '<Root>/Encode_Sp' */ |
| 10522 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10523 | |
| 10524 | /* Inport: '<Root>/System_Order' */ |
| 10525 | motor_B.Slect_port = motor_U.System_Order; |
| 10526 | |
| 10527 | /* Inport: '<Root>/SGWY_In' */ |
| 10528 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10529 | |
| 10530 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10531 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10532 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10533 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10534 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10535 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10536 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10537 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10538 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 10539 | &motor_DWork.V_KI, &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 10540 | |
| 10541 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10542 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10543 | if (tmp_0 < 65536.0) { |
| 10544 | if (tmp_0 >= 0.0) { |
| 10545 | tmp = (uint16_T)tmp_0; |
| 10546 | } else { |
| 10547 | tmp = 0U; |
| 10548 | } |
| 10549 | } else { |
| 10550 | tmp = MAX_uint16_T; |
| 10551 | } |
| 10552 | |
| 10553 | motor_Y.PWMOUT = tmp; |
| 10554 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10555 | if (tmp_0 < 2.147483648E+9) { |
| 10556 | if (tmp_0 >= -2.147483648E+9) { |
| 10557 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10558 | } else { |
| 10559 | saturatedUnaryMinus = MIN_int32_T; |
| 10560 | } |
| 10561 | } else { |
| 10562 | saturatedUnaryMinus = MAX_int32_T; |
| 10563 | } |
| 10564 | |
| 10565 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10566 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10567 | if (tmp_0 < 2.147483648E+9) { |
| 10568 | if (tmp_0 >= -2.147483648E+9) { |
| 10569 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10570 | } else { |
| 10571 | saturatedUnaryMinus = MIN_int32_T; |
| 10572 | } |
| 10573 | } else { |
| 10574 | saturatedUnaryMinus = MAX_int32_T; |
| 10575 | } |
| 10576 | |
| 10577 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10578 | break; |
| 10579 | |
| 10580 | case motor_IN_P8_e: |
| 10581 | /* During 'P8': '<S1>:31' */ |
| 10582 | break; |
| 10583 | |
| 10584 | case motor_IN_p10: |
| 10585 | /* During 'p10': '<S1>:61' */ |
| 10586 | if (fabs(motor_DWork.chu_jd) <= 0.02) { |
| 10587 | /* Transition: '<S1>:476' */ |
| 10588 | motor_DWork.is_xhhy = motor_IN_p11_b; |
| 10589 | motor_DWork.temporalCounter_i1 = 0U; |
| 10590 | |
| 10591 | /* Entry 'p11': '<S1>:113' */ |
| 10592 | motor_Y.Motor_En = true; |
| 10593 | |
| 10594 | /* 关电机 */ |
| 10595 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 10596 | } else { |
| 10597 | motor_DWork.chu_jd += 0.01; |
| 10598 | |
| 10599 | /* Inport: '<Root>/JD_In' */ |
| 10600 | /* 电机上行回零点 */ |
| 10601 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10602 | motor_B.JD_In = motor_U.JD_In; |
| 10603 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 10604 | |
| 10605 | /* Inport: '<Root>/Encode_Sp' */ |
| 10606 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10607 | |
| 10608 | /* Inport: '<Root>/System_Order' */ |
| 10609 | motor_B.Slect_port = motor_U.System_Order; |
| 10610 | |
| 10611 | /* Inport: '<Root>/SGWY_In' */ |
| 10612 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10613 | |
| 10614 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10615 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10616 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10617 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10618 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10619 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10620 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10621 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10622 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10623 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10624 | &motor_DWork.chu_jd); |
| 10625 | |
| 10626 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10627 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10628 | if (tmp_0 < 65536.0) { |
| 10629 | if (tmp_0 >= 0.0) { |
| 10630 | tmp = (uint16_T)tmp_0; |
| 10631 | } else { |
| 10632 | tmp = 0U; |
| 10633 | } |
| 10634 | } else { |
| 10635 | tmp = MAX_uint16_T; |
| 10636 | } |
| 10637 | |
| 10638 | motor_Y.PWMOUT = tmp; |
| 10639 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10640 | if (tmp_0 < 2.147483648E+9) { |
| 10641 | if (tmp_0 >= -2.147483648E+9) { |
| 10642 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10643 | } else { |
| 10644 | saturatedUnaryMinus = MIN_int32_T; |
| 10645 | } |
| 10646 | } else { |
| 10647 | saturatedUnaryMinus = MAX_int32_T; |
| 10648 | } |
| 10649 | |
| 10650 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10651 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10652 | if (tmp_0 < 2.147483648E+9) { |
| 10653 | if (tmp_0 >= -2.147483648E+9) { |
| 10654 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10655 | } else { |
| 10656 | saturatedUnaryMinus = MIN_int32_T; |
| 10657 | } |
| 10658 | } else { |
| 10659 | saturatedUnaryMinus = MAX_int32_T; |
| 10660 | } |
| 10661 | |
| 10662 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10663 | } |
| 10664 | break; |
| 10665 | |
| 10666 | default: |
| 10667 | /* During 'p11': '<S1>:113' */ |
| 10668 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 10669 | /* Transition: '<S1>:477' */ |
| 10670 | /* Transition: '<S1>:406' */ |
| 10671 | motor_DWork.is_xhhy = motor_IN_NO_ACTIVE_CHILD; |
| 10672 | motor_DWork.is_Initialize = motor_IN_Check_Reset; |
| 10673 | |
| 10674 | /* Entry 'Check_Reset': '<S1>:71' */ |
| 10675 | motor_Y.Ini_Result = motor_Init_Result_Check(motor_Y.Flag_Cur, |
| 10676 | motor_Y.Flag_Temp_Up, (real_T)motor_Y.Flag_Temp_Down); |
| 10677 | motor_Y.DCZD = true; |
| 10678 | } |
| 10679 | break; |
| 10680 | } |
| 10681 | |
| 10682 | if (guard1) { |
| 10683 | motor_DWork.chu_jd += 0.01; |
| 10684 | |
| 10685 | /* Inport: '<Root>/JD_In' */ |
| 10686 | /* 电机上行 */ |
| 10687 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10688 | motor_B.JD_In = motor_U.JD_In; |
| 10689 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10690 | if (tmp_0 < 2.147483648E+9) { |
| 10691 | if (tmp_0 >= -2.147483648E+9) { |
| 10692 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10693 | } else { |
| 10694 | saturatedUnaryMinus = MIN_int32_T; |
| 10695 | } |
| 10696 | } else { |
| 10697 | saturatedUnaryMinus = MAX_int32_T; |
| 10698 | } |
| 10699 | |
| 10700 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10701 | |
| 10702 | /* Inport: '<Root>/Encode_Sp' */ |
| 10703 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10704 | |
| 10705 | /* Inport: '<Root>/System_Order' */ |
| 10706 | motor_B.Slect_port = motor_U.System_Order; |
| 10707 | |
| 10708 | /* Inport: '<Root>/SGWY_In' */ |
| 10709 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10710 | |
| 10711 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10712 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10713 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10714 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10715 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10716 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10717 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10718 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10719 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 10720 | &motor_DWork.V_KI, &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 10721 | |
| 10722 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10723 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10724 | if (tmp_0 < 65536.0) { |
| 10725 | if (tmp_0 >= 0.0) { |
| 10726 | tmp = (uint16_T)tmp_0; |
| 10727 | } else { |
| 10728 | tmp = 0U; |
| 10729 | } |
| 10730 | } else { |
| 10731 | tmp = MAX_uint16_T; |
| 10732 | } |
| 10733 | |
| 10734 | motor_Y.PWMOUT = tmp; |
| 10735 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10736 | if (tmp_0 < 2.147483648E+9) { |
| 10737 | if (tmp_0 >= -2.147483648E+9) { |
| 10738 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10739 | } else { |
| 10740 | saturatedUnaryMinus = MIN_int32_T; |
| 10741 | } |
| 10742 | } else { |
| 10743 | saturatedUnaryMinus = MAX_int32_T; |
| 10744 | } |
| 10745 | |
| 10746 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10747 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10748 | if (tmp_0 < 2.147483648E+9) { |
| 10749 | if (tmp_0 >= -2.147483648E+9) { |
| 10750 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10751 | } else { |
| 10752 | saturatedUnaryMinus = MIN_int32_T; |
| 10753 | } |
| 10754 | } else { |
| 10755 | saturatedUnaryMinus = MAX_int32_T; |
| 10756 | } |
| 10757 | |
| 10758 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10759 | } |
| 10760 | } |
| 10761 | |
| 10762 | /* Function for Chart: '<Root>/Chart' */ |
| 10763 | static void motor_Initialize(void) |
| 10764 | { |
| 10765 | boolean_T guard1 = false; |
| 10766 | boolean_T guard2 = false; |
| 10767 | uint16_T tmp; |
| 10768 | real_T tmp_0; |
| 10769 | int32_T saturatedUnaryMinus; |
| 10770 | |
| 10771 | /* During 'Initialize': '<S1>:12' */ |
| 10772 | switch (motor_DWork.is_Initialize) { |
| 10773 | case motor_IN_Check_Reset: |
| 10774 | /* Inport: '<Root>/System_Order' */ |
| 10775 | /* During 'Check_Reset': '<S1>:71' */ |
| 10776 | if ((motor_Y.Ini_Result == 1) && (motor_U.System_Order == 2)) { |
| 10777 | /* Inport: '<Root>/Working_Mode' */ |
| 10778 | /* Transition: '<S1>:402' */ |
| 10779 | /* 代表初始化成功,接收开机指令 */ |
| 10780 | if (motor_U.Working_Mode == 3) { |
| 10781 | /* Transition: '<S1>:387' */ |
| 10782 | motor_DWork.is_Initialize = motor_IN_NO_ACTIVE_CHILD; |
| 10783 | motor_DWork.is_M_Run = motor_IN_Normal_Mode; |
| 10784 | |
| 10785 | /* Entry 'Normal_Mode': '<S1>:13' */ |
| 10786 | /* 正常模式 */ |
| 10787 | motor_Y.DCZD = false; |
| 10788 | |
| 10789 | /* 开电磁制动,低有效 */ |
| 10790 | motor_Y.Open_Result = 3U; |
| 10791 | |
| 10792 | /* 开机未完成状态位 */ |
| 10793 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 10794 | |
| 10795 | /* Entry Internal 'Normal_Mode': '<S1>:13' */ |
| 10796 | /* Transition: '<S1>:410' */ |
| 10797 | motor_DWork.is_Normal_Mode = motor_IN_defult1; |
| 10798 | motor_DWork.temporalCounter_i1 = 0U; |
| 10799 | } else if (motor_U.Working_Mode == 2) { |
| 10800 | /* Transition: '<S1>:385' */ |
| 10801 | motor_DWork.is_Initialize = motor_IN_NO_ACTIVE_CHILD; |
| 10802 | motor_DWork.is_M_Run = motor_IN_Showing_Mode; |
| 10803 | |
| 10804 | /* Entry 'Showing_Mode': '<S1>:51' */ |
| 10805 | /* 检视模式 */ |
| 10806 | motor_Y.DCZD = false; |
| 10807 | |
| 10808 | /* 开电磁制动,低有效 */ |
| 10809 | motor_Y.Open_Result = 3U; |
| 10810 | |
| 10811 | /* 开机未完成状态位 */ |
| 10812 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 10813 | motor_DWork.KG = 0U; |
| 10814 | |
| 10815 | /* Entry Internal 'Showing_Mode': '<S1>:51' */ |
| 10816 | /* Transition: '<S1>:437' */ |
| 10817 | motor_DWork.is_Showing_Mode = motor_IN_Start; |
| 10818 | motor_DWork.temporalCounter_i1 = 0U; |
| 10819 | } else if (motor_U.Working_Mode == 1) { |
| 10820 | /* Transition: '<S1>:382' */ |
| 10821 | motor_DWork.is_Initialize = motor_IN_NO_ACTIVE_CHILD; |
| 10822 | motor_DWork.is_M_Run = motor_IN_Test_Mode; |
| 10823 | |
| 10824 | /* Entry 'Test_Mode': '<S1>:35' */ |
| 10825 | /* 调试模式 */ |
| 10826 | /* Entry Internal 'Test_Mode': '<S1>:35' */ |
| 10827 | /* Transition: '<S1>:424' */ |
| 10828 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 10829 | |
| 10830 | /* Entry 'defult': '<S1>:239' */ |
| 10831 | motor_Y.Open_Result = 1U; |
| 10832 | |
| 10833 | /* 开机状态位成功 */ |
| 10834 | motor_DWork.In_State = 2U; |
| 10835 | } else { |
| 10836 | guard2 = true; |
| 10837 | } |
| 10838 | |
| 10839 | /* End of Inport: '<Root>/Working_Mode' */ |
| 10840 | } else { |
| 10841 | guard2 = true; |
| 10842 | } |
| 10843 | break; |
| 10844 | |
| 10845 | case motor_IN_Parameters_Reset: |
| 10846 | /* Inport: '<Root>/Motor_Num' */ |
| 10847 | /* During 'Parameters_Reset': '<S1>:37' */ |
| 10848 | /* Transition: '<S1>:400' */ |
| 10849 | if (motor_U.Motor_Num == 1) { |
| 10850 | /* Transition: '<S1>:403' */ |
| 10851 | motor_DWork.is_Initialize = motor_IN_xhzy; |
| 10852 | |
| 10853 | /* Entry Internal 'xhzy': '<S1>:128' */ |
| 10854 | /* Transition: '<S1>:484' */ |
| 10855 | motor_DWork.is_xhzy = motor_IN_P1; |
| 10856 | motor_DWork.temporalCounter_i1 = 0U; |
| 10857 | |
| 10858 | /* Entry 'P1': '<S1>:66' */ |
| 10859 | motor_DWork.KG_JD = 0U; |
| 10860 | motor_DWork.KG_En = 1U; |
| 10861 | motor_DWork.KG_clc = 0U; |
| 10862 | motor_DWork.chu_jd += 0.01; |
| 10863 | |
| 10864 | /* Inport: '<Root>/JD_In' */ |
| 10865 | /* 电机上行 */ |
| 10866 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10867 | motor_B.JD_In = motor_U.JD_In; |
| 10868 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10869 | if (tmp_0 < 2.147483648E+9) { |
| 10870 | if (tmp_0 >= -2.147483648E+9) { |
| 10871 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10872 | } else { |
| 10873 | saturatedUnaryMinus = MIN_int32_T; |
| 10874 | } |
| 10875 | } else { |
| 10876 | saturatedUnaryMinus = MAX_int32_T; |
| 10877 | } |
| 10878 | |
| 10879 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10880 | |
| 10881 | /* Inport: '<Root>/Encode_Sp' */ |
| 10882 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10883 | |
| 10884 | /* Inport: '<Root>/System_Order' */ |
| 10885 | motor_B.Slect_port = motor_U.System_Order; |
| 10886 | |
| 10887 | /* Inport: '<Root>/SGWY_In' */ |
| 10888 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10889 | |
| 10890 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10891 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10892 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10893 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10894 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10895 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10896 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10897 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10898 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10899 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10900 | &motor_DWork.chu_jd); |
| 10901 | |
| 10902 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10903 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10904 | if (tmp_0 < 65536.0) { |
| 10905 | if (tmp_0 >= 0.0) { |
| 10906 | tmp = (uint16_T)tmp_0; |
| 10907 | } else { |
| 10908 | tmp = 0U; |
| 10909 | } |
| 10910 | } else { |
| 10911 | tmp = MAX_uint16_T; |
| 10912 | } |
| 10913 | |
| 10914 | motor_Y.PWMOUT = tmp; |
| 10915 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 10916 | if (tmp_0 < 2.147483648E+9) { |
| 10917 | if (tmp_0 >= -2.147483648E+9) { |
| 10918 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10919 | } else { |
| 10920 | saturatedUnaryMinus = MIN_int32_T; |
| 10921 | } |
| 10922 | } else { |
| 10923 | saturatedUnaryMinus = MAX_int32_T; |
| 10924 | } |
| 10925 | |
| 10926 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 10927 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 10928 | if (tmp_0 < 2.147483648E+9) { |
| 10929 | if (tmp_0 >= -2.147483648E+9) { |
| 10930 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10931 | } else { |
| 10932 | saturatedUnaryMinus = MIN_int32_T; |
| 10933 | } |
| 10934 | } else { |
| 10935 | saturatedUnaryMinus = MAX_int32_T; |
| 10936 | } |
| 10937 | |
| 10938 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 10939 | } else if (motor_U.Motor_Num == 3) { |
| 10940 | /* Transition: '<S1>:397' */ |
| 10941 | motor_DWork.is_Initialize = motor_IN_xhhy; |
| 10942 | |
| 10943 | /* Entry Internal 'xhhy': '<S1>:65' */ |
| 10944 | /* Transition: '<S1>:464' */ |
| 10945 | motor_DWork.is_xhhy = motor_IN_P1; |
| 10946 | motor_DWork.temporalCounter_i1 = 0U; |
| 10947 | |
| 10948 | /* Entry 'P1': '<S1>:25' */ |
| 10949 | motor_DWork.KG_JD = 0U; |
| 10950 | motor_DWork.KG_En = 1U; |
| 10951 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 10952 | motor_DWork.chu_jd += 0.01; |
| 10953 | |
| 10954 | /* Inport: '<Root>/JD_In' */ |
| 10955 | /* 电机上行 */ |
| 10956 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 10957 | motor_B.JD_In = motor_U.JD_In; |
| 10958 | tmp_0 = motor_DWork.Encode_Pos0; |
| 10959 | if (tmp_0 < 2.147483648E+9) { |
| 10960 | if (tmp_0 >= -2.147483648E+9) { |
| 10961 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 10962 | } else { |
| 10963 | saturatedUnaryMinus = MIN_int32_T; |
| 10964 | } |
| 10965 | } else { |
| 10966 | saturatedUnaryMinus = MAX_int32_T; |
| 10967 | } |
| 10968 | |
| 10969 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 10970 | |
| 10971 | /* Inport: '<Root>/Encode_Sp' */ |
| 10972 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 10973 | |
| 10974 | /* Inport: '<Root>/System_Order' */ |
| 10975 | motor_B.Slect_port = motor_U.System_Order; |
| 10976 | |
| 10977 | /* Inport: '<Root>/SGWY_In' */ |
| 10978 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 10979 | |
| 10980 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 10981 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 10982 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 10983 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 10984 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 10985 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 10986 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 10987 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 10988 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 10989 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 10990 | &motor_DWork.chu_jd); |
| 10991 | |
| 10992 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 10993 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 10994 | if (tmp_0 < 65536.0) { |
| 10995 | if (tmp_0 >= 0.0) { |
| 10996 | tmp = (uint16_T)tmp_0; |
| 10997 | } else { |
| 10998 | tmp = 0U; |
| 10999 | } |
| 11000 | } else { |
| 11001 | tmp = MAX_uint16_T; |
| 11002 | } |
| 11003 | |
| 11004 | motor_Y.PWMOUT = tmp; |
| 11005 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11006 | if (tmp_0 < 2.147483648E+9) { |
| 11007 | if (tmp_0 >= -2.147483648E+9) { |
| 11008 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11009 | } else { |
| 11010 | saturatedUnaryMinus = MIN_int32_T; |
| 11011 | } |
| 11012 | } else { |
| 11013 | saturatedUnaryMinus = MAX_int32_T; |
| 11014 | } |
| 11015 | |
| 11016 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11017 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11018 | if (tmp_0 < 2.147483648E+9) { |
| 11019 | if (tmp_0 >= -2.147483648E+9) { |
| 11020 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11021 | } else { |
| 11022 | saturatedUnaryMinus = MIN_int32_T; |
| 11023 | } |
| 11024 | } else { |
| 11025 | saturatedUnaryMinus = MAX_int32_T; |
| 11026 | } |
| 11027 | |
| 11028 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11029 | } else { |
| 11030 | if (motor_U.Motor_Num == 2) { |
| 11031 | /* Transition: '<S1>:401' */ |
| 11032 | motor_DWork.is_Initialize = motor_IN_hy; |
| 11033 | |
| 11034 | /* Entry Internal 'hy': '<S1>:62' */ |
| 11035 | /* Transition: '<S1>:451' */ |
| 11036 | motor_DWork.is_hy = motor_IN_P1; |
| 11037 | motor_DWork.temporalCounter_i1 = 0U; |
| 11038 | |
| 11039 | /* Entry 'P1': '<S1>:39' */ |
| 11040 | motor_DWork.KG_JD = 0U; |
| 11041 | motor_DWork.KG_clc = 0U; |
| 11042 | } |
| 11043 | } |
| 11044 | |
| 11045 | /* End of Inport: '<Root>/Motor_Num' */ |
| 11046 | break; |
| 11047 | |
| 11048 | case motor_IN_Parameters_Reset0: |
| 11049 | /* During 'Parameters_Reset0': '<S1>:89' */ |
| 11050 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 11051 | /* Transition: '<S1>:399' */ |
| 11052 | motor_DWork.is_Initialize = motor_IN_Parameters_Reset; |
| 11053 | |
| 11054 | /* Entry 'Parameters_Reset': '<S1>:37' */ |
| 11055 | motor_Y.Motor_En = false; |
| 11056 | |
| 11057 | /* 开电机 */ |
| 11058 | motor_DWork.Encode_Pos0 = 0.0; |
| 11059 | |
| 11060 | /* 位置初始值 */ |
| 11061 | motor_DWork.chu_jd = 0.0; |
| 11062 | motor_DWork.KG = 1U; |
| 11063 | } |
| 11064 | break; |
| 11065 | |
| 11066 | case motor_IN_hy: |
| 11067 | motor_hy(); |
| 11068 | break; |
| 11069 | |
| 11070 | case motor_IN_xhhy: |
| 11071 | motor_xhhy(); |
| 11072 | break; |
| 11073 | |
| 11074 | default: |
| 11075 | /* During 'xhzy': '<S1>:128' */ |
| 11076 | switch (motor_DWork.is_xhzy) { |
| 11077 | case motor_IN_P1: |
| 11078 | /* During 'P1': '<S1>:66' */ |
| 11079 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 11080 | /* Transition: '<S1>:485' */ |
| 11081 | /* 等待2S */ |
| 11082 | if (motor_DWork.Encode_Pos0 <= 293092.0) { |
| 11083 | /* Transition: '<S1>:486' */ |
| 11084 | /* 293092为2.5度 */ |
| 11085 | motor_DWork.is_xhzy = motor_IN_P8; |
| 11086 | |
| 11087 | /* Entry 'P8': '<S1>:32' */ |
| 11088 | motor_Y.Flag_Motor_Error = 0U; |
| 11089 | |
| 11090 | /* 电机故障,不能正转 */ |
| 11091 | motor_Y.Motor_En = true; |
| 11092 | |
| 11093 | /* 电机失能,关 */ |
| 11094 | } else { |
| 11095 | if (motor_U.Encode_Sp < 0) { |
| 11096 | /* Inport: '<Root>/Encode_Sp' */ |
| 11097 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 11098 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 11099 | saturatedUnaryMinus = MAX_int32_T; |
| 11100 | } else { |
| 11101 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 11102 | } |
| 11103 | } else { |
| 11104 | /* Inport: '<Root>/Encode_Sp' */ |
| 11105 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 11106 | } |
| 11107 | |
| 11108 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 11109 | /* Transition: '<S1>:487' */ |
| 11110 | /* 判断电机是否到达上机械限位 |
| 11111 | 故障(卡死) |
| 11112 | 编码器故障 */ |
| 11113 | motor_DWork.is_xhzy = motor_IN_P3; |
| 11114 | |
| 11115 | /* Entry 'P3': '<S1>:127' */ |
| 11116 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 11117 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 11118 | |
| 11119 | /* 上限位开关故障$/ |
| 11120 | Motor_En=1; |
| 11121 | 电机失能,关 |
| 11122 | PWMOUT=PWM_Value_Mid; |
| 11123 | 4S之后停机$/ */ |
| 11124 | } else { |
| 11125 | guard1 = true; |
| 11126 | } |
| 11127 | } |
| 11128 | } else { |
| 11129 | guard1 = true; |
| 11130 | } |
| 11131 | break; |
| 11132 | |
| 11133 | case motor_IN_P10: |
| 11134 | /* During 'P10': '<S1>:63' */ |
| 11135 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 11136 | /* Transition: '<S1>:495' */ |
| 11137 | motor_DWork.is_xhzy = motor_IN_p11; |
| 11138 | |
| 11139 | /* Entry 'p11': '<S1>:126' */ |
| 11140 | motor_DWork.Encode_Pos0 = motor_DWork.Encode_Pos1; |
| 11141 | motor_DWork.Average_En = 1.0; |
| 11142 | |
| 11143 | /* chu_jd = Angle_Calculation_XH(Encode_Pos); */ |
| 11144 | motor_DWork.chu_jd = -20.5; |
| 11145 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 11146 | } else { |
| 11147 | motor_DWork.chu_jd -= 0.003; |
| 11148 | |
| 11149 | /* Inport: '<Root>/JD_In' */ |
| 11150 | /* 电机下行; */ |
| 11151 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11152 | motor_B.JD_In = motor_U.JD_In; |
| 11153 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11154 | if (tmp_0 < 2.147483648E+9) { |
| 11155 | if (tmp_0 >= -2.147483648E+9) { |
| 11156 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11157 | } else { |
| 11158 | saturatedUnaryMinus = MIN_int32_T; |
| 11159 | } |
| 11160 | } else { |
| 11161 | saturatedUnaryMinus = MAX_int32_T; |
| 11162 | } |
| 11163 | |
| 11164 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11165 | |
| 11166 | /* Inport: '<Root>/Encode_Sp' */ |
| 11167 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11168 | |
| 11169 | /* Inport: '<Root>/System_Order' */ |
| 11170 | motor_B.Slect_port = motor_U.System_Order; |
| 11171 | |
| 11172 | /* Inport: '<Root>/SGWY_In' */ |
| 11173 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11174 | |
| 11175 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11176 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11177 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11178 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11179 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11180 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11181 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11182 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11183 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11184 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11185 | &motor_DWork.chu_jd); |
| 11186 | |
| 11187 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11188 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11189 | if (tmp_0 < 65536.0) { |
| 11190 | if (tmp_0 >= 0.0) { |
| 11191 | tmp = (uint16_T)tmp_0; |
| 11192 | } else { |
| 11193 | tmp = 0U; |
| 11194 | } |
| 11195 | } else { |
| 11196 | tmp = MAX_uint16_T; |
| 11197 | } |
| 11198 | |
| 11199 | motor_Y.PWMOUT = tmp; |
| 11200 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11201 | if (tmp_0 < 2.147483648E+9) { |
| 11202 | if (tmp_0 >= -2.147483648E+9) { |
| 11203 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11204 | } else { |
| 11205 | saturatedUnaryMinus = MIN_int32_T; |
| 11206 | } |
| 11207 | } else { |
| 11208 | saturatedUnaryMinus = MAX_int32_T; |
| 11209 | } |
| 11210 | |
| 11211 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11212 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11213 | if (tmp_0 < 2.147483648E+9) { |
| 11214 | if (tmp_0 >= -2.147483648E+9) { |
| 11215 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11216 | } else { |
| 11217 | saturatedUnaryMinus = MIN_int32_T; |
| 11218 | } |
| 11219 | } else { |
| 11220 | saturatedUnaryMinus = MAX_int32_T; |
| 11221 | } |
| 11222 | |
| 11223 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11224 | |
| 11225 | /* 电机下行 |
| 11226 | 电机触碰到机械限位 */ |
| 11227 | } |
| 11228 | break; |
| 11229 | |
| 11230 | case motor_IN_P11: |
| 11231 | /* During 'P11': '<S1>:1170' */ |
| 11232 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 11233 | /* Transition: '<S1>:1171' */ |
| 11234 | motor_DWork.is_xhzy = motor_IN_P2; |
| 11235 | motor_DWork.temporalCounter_i1 = 0U; |
| 11236 | |
| 11237 | /* Entry 'P2': '<S1>:67' */ |
| 11238 | motor_DWork.chu_jd -= 0.01; |
| 11239 | |
| 11240 | /* Inport: '<Root>/JD_In' */ |
| 11241 | /* 电机下行; */ |
| 11242 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11243 | motor_B.JD_In = motor_U.JD_In; |
| 11244 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11245 | if (tmp_0 < 2.147483648E+9) { |
| 11246 | if (tmp_0 >= -2.147483648E+9) { |
| 11247 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11248 | } else { |
| 11249 | saturatedUnaryMinus = MIN_int32_T; |
| 11250 | } |
| 11251 | } else { |
| 11252 | saturatedUnaryMinus = MAX_int32_T; |
| 11253 | } |
| 11254 | |
| 11255 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11256 | |
| 11257 | /* Inport: '<Root>/Encode_Sp' */ |
| 11258 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11259 | |
| 11260 | /* Inport: '<Root>/System_Order' */ |
| 11261 | motor_B.Slect_port = motor_U.System_Order; |
| 11262 | |
| 11263 | /* Inport: '<Root>/SGWY_In' */ |
| 11264 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11265 | |
| 11266 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11267 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11268 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11269 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11270 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11271 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11272 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11273 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11274 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11275 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11276 | &motor_DWork.chu_jd); |
| 11277 | |
| 11278 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11279 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11280 | if (tmp_0 < 65536.0) { |
| 11281 | if (tmp_0 >= 0.0) { |
| 11282 | tmp = (uint16_T)tmp_0; |
| 11283 | } else { |
| 11284 | tmp = 0U; |
| 11285 | } |
| 11286 | } else { |
| 11287 | tmp = MAX_uint16_T; |
| 11288 | } |
| 11289 | |
| 11290 | motor_Y.PWMOUT = tmp; |
| 11291 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11292 | if (tmp_0 < 2.147483648E+9) { |
| 11293 | if (tmp_0 >= -2.147483648E+9) { |
| 11294 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11295 | } else { |
| 11296 | saturatedUnaryMinus = MIN_int32_T; |
| 11297 | } |
| 11298 | } else { |
| 11299 | saturatedUnaryMinus = MAX_int32_T; |
| 11300 | } |
| 11301 | |
| 11302 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11303 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11304 | if (tmp_0 < 2.147483648E+9) { |
| 11305 | if (tmp_0 >= -2.147483648E+9) { |
| 11306 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11307 | } else { |
| 11308 | saturatedUnaryMinus = MIN_int32_T; |
| 11309 | } |
| 11310 | } else { |
| 11311 | saturatedUnaryMinus = MAX_int32_T; |
| 11312 | } |
| 11313 | |
| 11314 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11315 | } |
| 11316 | break; |
| 11317 | |
| 11318 | case motor_IN_P2: |
| 11319 | /* Inport: '<Root>/Encode_Sp' */ |
| 11320 | /* Inport: '<Root>/Down_Limit' */ |
| 11321 | /* During 'P2': '<S1>:67' */ |
| 11322 | if (motor_U.Encode_Sp < 0) { |
| 11323 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 11324 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 11325 | saturatedUnaryMinus = MAX_int32_T; |
| 11326 | } else { |
| 11327 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 11328 | } |
| 11329 | } else { |
| 11330 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 11331 | } |
| 11332 | |
| 11333 | if ((motor_DWork.temporalCounter_i1 >= (uint32_T)(3.0 / motor_DWork.Ts)) && |
| 11334 | ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min)) { |
| 11335 | /* Transition: '<S1>:491' */ |
| 11336 | /* 等待3S */ |
| 11337 | /* Transition: '<S1>:489' */ |
| 11338 | /* 判断电机是否到达下机械限位 |
| 11339 | 故障(卡死) */ |
| 11340 | motor_DWork.is_xhzy = motor_IN_P5; |
| 11341 | |
| 11342 | /* Entry 'P5': '<S1>:64' */ |
| 11343 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 11344 | |
| 11345 | /* 下限位开关故障 |
| 11346 | du:PWMOUT=PWM_Value_Up;%电机上行 |
| 11347 | on after(4/Ts,tick):Flag_Down_GZ_limit=0;%下限位开关故障 |
| 11348 | Motor_En=1; |
| 11349 | PWMOUT=PWM_Value_Mid; |
| 11350 | 4S之后停机 */ |
| 11351 | } else if (motor_U.Down_Limit == 0) { |
| 11352 | /* Transition: '<S1>:492' */ |
| 11353 | /* 下限位开关低电平有效 */ |
| 11354 | motor_DWork.is_xhzy = motor_IN_P4; |
| 11355 | |
| 11356 | /* Entry 'P4': '<S1>:72' */ |
| 11357 | motor_DWork.chu_jd -= 0.003; |
| 11358 | |
| 11359 | /* Inport: '<Root>/JD_In' */ |
| 11360 | /* 电机下行; */ |
| 11361 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11362 | motor_B.JD_In = motor_U.JD_In; |
| 11363 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11364 | if (tmp_0 < 2.147483648E+9) { |
| 11365 | if (tmp_0 >= -2.147483648E+9) { |
| 11366 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11367 | } else { |
| 11368 | saturatedUnaryMinus = MIN_int32_T; |
| 11369 | } |
| 11370 | } else { |
| 11371 | saturatedUnaryMinus = MAX_int32_T; |
| 11372 | } |
| 11373 | |
| 11374 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11375 | |
| 11376 | /* Inport: '<Root>/Encode_Sp' */ |
| 11377 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11378 | |
| 11379 | /* Inport: '<Root>/System_Order' */ |
| 11380 | motor_B.Slect_port = motor_U.System_Order; |
| 11381 | |
| 11382 | /* Inport: '<Root>/SGWY_In' */ |
| 11383 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11384 | |
| 11385 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11386 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11387 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11388 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11389 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11390 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11391 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11392 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11393 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11394 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11395 | &motor_DWork.chu_jd); |
| 11396 | |
| 11397 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11398 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11399 | if (tmp_0 < 65536.0) { |
| 11400 | if (tmp_0 >= 0.0) { |
| 11401 | tmp = (uint16_T)tmp_0; |
| 11402 | } else { |
| 11403 | tmp = 0U; |
| 11404 | } |
| 11405 | } else { |
| 11406 | tmp = MAX_uint16_T; |
| 11407 | } |
| 11408 | |
| 11409 | motor_Y.PWMOUT = tmp; |
| 11410 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11411 | if (tmp_0 < 2.147483648E+9) { |
| 11412 | if (tmp_0 >= -2.147483648E+9) { |
| 11413 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11414 | } else { |
| 11415 | saturatedUnaryMinus = MIN_int32_T; |
| 11416 | } |
| 11417 | } else { |
| 11418 | saturatedUnaryMinus = MAX_int32_T; |
| 11419 | } |
| 11420 | |
| 11421 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11422 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11423 | if (tmp_0 < 2.147483648E+9) { |
| 11424 | if (tmp_0 >= -2.147483648E+9) { |
| 11425 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11426 | } else { |
| 11427 | saturatedUnaryMinus = MIN_int32_T; |
| 11428 | } |
| 11429 | } else { |
| 11430 | saturatedUnaryMinus = MAX_int32_T; |
| 11431 | } |
| 11432 | |
| 11433 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11434 | } else { |
| 11435 | motor_DWork.chu_jd -= 0.01; |
| 11436 | |
| 11437 | /* Inport: '<Root>/JD_In' */ |
| 11438 | /* 电机下行; */ |
| 11439 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11440 | motor_B.JD_In = motor_U.JD_In; |
| 11441 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11442 | if (tmp_0 < 2.147483648E+9) { |
| 11443 | if (tmp_0 >= -2.147483648E+9) { |
| 11444 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11445 | } else { |
| 11446 | saturatedUnaryMinus = MIN_int32_T; |
| 11447 | } |
| 11448 | } else { |
| 11449 | saturatedUnaryMinus = MAX_int32_T; |
| 11450 | } |
| 11451 | |
| 11452 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11453 | |
| 11454 | /* Inport: '<Root>/Encode_Sp' */ |
| 11455 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11456 | |
| 11457 | /* Inport: '<Root>/System_Order' */ |
| 11458 | motor_B.Slect_port = motor_U.System_Order; |
| 11459 | |
| 11460 | /* Inport: '<Root>/SGWY_In' */ |
| 11461 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11462 | |
| 11463 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11464 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11465 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11466 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11467 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11468 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11469 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11470 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11471 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11472 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11473 | &motor_DWork.chu_jd); |
| 11474 | |
| 11475 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11476 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11477 | if (tmp_0 < 65536.0) { |
| 11478 | if (tmp_0 >= 0.0) { |
| 11479 | tmp = (uint16_T)tmp_0; |
| 11480 | } else { |
| 11481 | tmp = 0U; |
| 11482 | } |
| 11483 | } else { |
| 11484 | tmp = MAX_uint16_T; |
| 11485 | } |
| 11486 | |
| 11487 | motor_Y.PWMOUT = tmp; |
| 11488 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11489 | if (tmp_0 < 2.147483648E+9) { |
| 11490 | if (tmp_0 >= -2.147483648E+9) { |
| 11491 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11492 | } else { |
| 11493 | saturatedUnaryMinus = MIN_int32_T; |
| 11494 | } |
| 11495 | } else { |
| 11496 | saturatedUnaryMinus = MAX_int32_T; |
| 11497 | } |
| 11498 | |
| 11499 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11500 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11501 | if (tmp_0 < 2.147483648E+9) { |
| 11502 | if (tmp_0 >= -2.147483648E+9) { |
| 11503 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11504 | } else { |
| 11505 | saturatedUnaryMinus = MIN_int32_T; |
| 11506 | } |
| 11507 | } else { |
| 11508 | saturatedUnaryMinus = MAX_int32_T; |
| 11509 | } |
| 11510 | |
| 11511 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11512 | |
| 11513 | /* 电机下行 */ |
| 11514 | } |
| 11515 | |
| 11516 | /* End of Inport: '<Root>/Down_Limit' */ |
| 11517 | break; |
| 11518 | |
| 11519 | case motor_IN_P3: |
| 11520 | /* During 'P3': '<S1>:127' */ |
| 11521 | /* Transition: '<S1>:1034' */ |
| 11522 | motor_DWork.is_xhzy = motor_IN_P2; |
| 11523 | motor_DWork.temporalCounter_i1 = 0U; |
| 11524 | |
| 11525 | /* Entry 'P2': '<S1>:67' */ |
| 11526 | motor_DWork.chu_jd -= 0.01; |
| 11527 | |
| 11528 | /* Inport: '<Root>/JD_In' */ |
| 11529 | /* 电机下行; */ |
| 11530 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11531 | motor_B.JD_In = motor_U.JD_In; |
| 11532 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11533 | if (tmp_0 < 2.147483648E+9) { |
| 11534 | if (tmp_0 >= -2.147483648E+9) { |
| 11535 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11536 | } else { |
| 11537 | saturatedUnaryMinus = MIN_int32_T; |
| 11538 | } |
| 11539 | } else { |
| 11540 | saturatedUnaryMinus = MAX_int32_T; |
| 11541 | } |
| 11542 | |
| 11543 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11544 | |
| 11545 | /* Inport: '<Root>/Encode_Sp' */ |
| 11546 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11547 | |
| 11548 | /* Inport: '<Root>/System_Order' */ |
| 11549 | motor_B.Slect_port = motor_U.System_Order; |
| 11550 | |
| 11551 | /* Inport: '<Root>/SGWY_In' */ |
| 11552 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11553 | |
| 11554 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11555 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11556 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11557 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11558 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11559 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11560 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11561 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11562 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11563 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11564 | &motor_DWork.chu_jd); |
| 11565 | |
| 11566 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11567 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11568 | if (tmp_0 < 65536.0) { |
| 11569 | if (tmp_0 >= 0.0) { |
| 11570 | tmp = (uint16_T)tmp_0; |
| 11571 | } else { |
| 11572 | tmp = 0U; |
| 11573 | } |
| 11574 | } else { |
| 11575 | tmp = MAX_uint16_T; |
| 11576 | } |
| 11577 | |
| 11578 | motor_Y.PWMOUT = tmp; |
| 11579 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11580 | if (tmp_0 < 2.147483648E+9) { |
| 11581 | if (tmp_0 >= -2.147483648E+9) { |
| 11582 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11583 | } else { |
| 11584 | saturatedUnaryMinus = MIN_int32_T; |
| 11585 | } |
| 11586 | } else { |
| 11587 | saturatedUnaryMinus = MAX_int32_T; |
| 11588 | } |
| 11589 | |
| 11590 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11591 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11592 | if (tmp_0 < 2.147483648E+9) { |
| 11593 | if (tmp_0 >= -2.147483648E+9) { |
| 11594 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11595 | } else { |
| 11596 | saturatedUnaryMinus = MIN_int32_T; |
| 11597 | } |
| 11598 | } else { |
| 11599 | saturatedUnaryMinus = MAX_int32_T; |
| 11600 | } |
| 11601 | |
| 11602 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11603 | break; |
| 11604 | |
| 11605 | case motor_IN_P4: |
| 11606 | /* Inport: '<Root>/Encode_Sp' */ |
| 11607 | /* During 'P4': '<S1>:72' */ |
| 11608 | if (motor_U.Encode_Sp < 0) { |
| 11609 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 11610 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 11611 | saturatedUnaryMinus = MAX_int32_T; |
| 11612 | } else { |
| 11613 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 11614 | } |
| 11615 | } else { |
| 11616 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 11617 | } |
| 11618 | |
| 11619 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Sp_Min) { |
| 11620 | /* Transition: '<S1>:493' */ |
| 11621 | /* 判断电机是否到达下机械限位 */ |
| 11622 | motor_DWork.is_xhzy = motor_IN_P10; |
| 11623 | motor_DWork.temporalCounter_i1 = 0U; |
| 11624 | |
| 11625 | /* Entry 'P10': '<S1>:63' */ |
| 11626 | motor_DWork.chu_jd -= 0.003; |
| 11627 | |
| 11628 | /* Inport: '<Root>/JD_In' */ |
| 11629 | /* 电机下行; */ |
| 11630 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11631 | motor_B.JD_In = motor_U.JD_In; |
| 11632 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11633 | if (tmp_0 < 2.147483648E+9) { |
| 11634 | if (tmp_0 >= -2.147483648E+9) { |
| 11635 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11636 | } else { |
| 11637 | saturatedUnaryMinus = MIN_int32_T; |
| 11638 | } |
| 11639 | } else { |
| 11640 | saturatedUnaryMinus = MAX_int32_T; |
| 11641 | } |
| 11642 | |
| 11643 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11644 | |
| 11645 | /* Inport: '<Root>/Encode_Sp' */ |
| 11646 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11647 | |
| 11648 | /* Inport: '<Root>/System_Order' */ |
| 11649 | motor_B.Slect_port = motor_U.System_Order; |
| 11650 | |
| 11651 | /* Inport: '<Root>/SGWY_In' */ |
| 11652 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11653 | |
| 11654 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11655 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11656 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11657 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11658 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11659 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11660 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11661 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11662 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11663 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11664 | &motor_DWork.chu_jd); |
| 11665 | |
| 11666 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11667 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11668 | if (tmp_0 < 65536.0) { |
| 11669 | if (tmp_0 >= 0.0) { |
| 11670 | tmp = (uint16_T)tmp_0; |
| 11671 | } else { |
| 11672 | tmp = 0U; |
| 11673 | } |
| 11674 | } else { |
| 11675 | tmp = MAX_uint16_T; |
| 11676 | } |
| 11677 | |
| 11678 | motor_Y.PWMOUT = tmp; |
| 11679 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11680 | if (tmp_0 < 2.147483648E+9) { |
| 11681 | if (tmp_0 >= -2.147483648E+9) { |
| 11682 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11683 | } else { |
| 11684 | saturatedUnaryMinus = MIN_int32_T; |
| 11685 | } |
| 11686 | } else { |
| 11687 | saturatedUnaryMinus = MAX_int32_T; |
| 11688 | } |
| 11689 | |
| 11690 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11691 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11692 | if (tmp_0 < 2.147483648E+9) { |
| 11693 | if (tmp_0 >= -2.147483648E+9) { |
| 11694 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11695 | } else { |
| 11696 | saturatedUnaryMinus = MIN_int32_T; |
| 11697 | } |
| 11698 | } else { |
| 11699 | saturatedUnaryMinus = MAX_int32_T; |
| 11700 | } |
| 11701 | |
| 11702 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11703 | } else { |
| 11704 | motor_DWork.chu_jd -= 0.003; |
| 11705 | |
| 11706 | /* Inport: '<Root>/JD_In' */ |
| 11707 | /* 电机下行; */ |
| 11708 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11709 | motor_B.JD_In = motor_U.JD_In; |
| 11710 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11711 | if (tmp_0 < 2.147483648E+9) { |
| 11712 | if (tmp_0 >= -2.147483648E+9) { |
| 11713 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11714 | } else { |
| 11715 | saturatedUnaryMinus = MIN_int32_T; |
| 11716 | } |
| 11717 | } else { |
| 11718 | saturatedUnaryMinus = MAX_int32_T; |
| 11719 | } |
| 11720 | |
| 11721 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11722 | |
| 11723 | /* Inport: '<Root>/Encode_Sp' */ |
| 11724 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11725 | |
| 11726 | /* Inport: '<Root>/System_Order' */ |
| 11727 | motor_B.Slect_port = motor_U.System_Order; |
| 11728 | |
| 11729 | /* Inport: '<Root>/SGWY_In' */ |
| 11730 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11731 | |
| 11732 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11733 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11734 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11735 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11736 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11737 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11738 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11739 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11740 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11741 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11742 | &motor_DWork.chu_jd); |
| 11743 | |
| 11744 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11745 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11746 | if (tmp_0 < 65536.0) { |
| 11747 | if (tmp_0 >= 0.0) { |
| 11748 | tmp = (uint16_T)tmp_0; |
| 11749 | } else { |
| 11750 | tmp = 0U; |
| 11751 | } |
| 11752 | } else { |
| 11753 | tmp = MAX_uint16_T; |
| 11754 | } |
| 11755 | |
| 11756 | motor_Y.PWMOUT = tmp; |
| 11757 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11758 | if (tmp_0 < 2.147483648E+9) { |
| 11759 | if (tmp_0 >= -2.147483648E+9) { |
| 11760 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11761 | } else { |
| 11762 | saturatedUnaryMinus = MIN_int32_T; |
| 11763 | } |
| 11764 | } else { |
| 11765 | saturatedUnaryMinus = MAX_int32_T; |
| 11766 | } |
| 11767 | |
| 11768 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11769 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11770 | if (tmp_0 < 2.147483648E+9) { |
| 11771 | if (tmp_0 >= -2.147483648E+9) { |
| 11772 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11773 | } else { |
| 11774 | saturatedUnaryMinus = MIN_int32_T; |
| 11775 | } |
| 11776 | } else { |
| 11777 | saturatedUnaryMinus = MAX_int32_T; |
| 11778 | } |
| 11779 | |
| 11780 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11781 | |
| 11782 | /* 电机下行 |
| 11783 | 电机触碰到机械限位 */ |
| 11784 | } |
| 11785 | break; |
| 11786 | |
| 11787 | case motor_IN_P5: |
| 11788 | /* During 'P5': '<S1>:64' */ |
| 11789 | /* Transition: '<S1>:1035' */ |
| 11790 | motor_DWork.is_xhzy = motor_IN_P10; |
| 11791 | motor_DWork.temporalCounter_i1 = 0U; |
| 11792 | |
| 11793 | /* Entry 'P10': '<S1>:63' */ |
| 11794 | motor_DWork.chu_jd -= 0.003; |
| 11795 | |
| 11796 | /* Inport: '<Root>/JD_In' */ |
| 11797 | /* 电机下行; */ |
| 11798 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11799 | motor_B.JD_In = motor_U.JD_In; |
| 11800 | tmp_0 = motor_DWork.Encode_Pos0; |
| 11801 | if (tmp_0 < 2.147483648E+9) { |
| 11802 | if (tmp_0 >= -2.147483648E+9) { |
| 11803 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11804 | } else { |
| 11805 | saturatedUnaryMinus = MIN_int32_T; |
| 11806 | } |
| 11807 | } else { |
| 11808 | saturatedUnaryMinus = MAX_int32_T; |
| 11809 | } |
| 11810 | |
| 11811 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 11812 | |
| 11813 | /* Inport: '<Root>/Encode_Sp' */ |
| 11814 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11815 | |
| 11816 | /* Inport: '<Root>/System_Order' */ |
| 11817 | motor_B.Slect_port = motor_U.System_Order; |
| 11818 | |
| 11819 | /* Inport: '<Root>/SGWY_In' */ |
| 11820 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11821 | |
| 11822 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11823 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11824 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11825 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11826 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11827 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11828 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11829 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11830 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11831 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11832 | &motor_DWork.chu_jd); |
| 11833 | |
| 11834 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11835 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11836 | if (tmp_0 < 65536.0) { |
| 11837 | if (tmp_0 >= 0.0) { |
| 11838 | tmp = (uint16_T)tmp_0; |
| 11839 | } else { |
| 11840 | tmp = 0U; |
| 11841 | } |
| 11842 | } else { |
| 11843 | tmp = MAX_uint16_T; |
| 11844 | } |
| 11845 | |
| 11846 | motor_Y.PWMOUT = tmp; |
| 11847 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11848 | if (tmp_0 < 2.147483648E+9) { |
| 11849 | if (tmp_0 >= -2.147483648E+9) { |
| 11850 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11851 | } else { |
| 11852 | saturatedUnaryMinus = MIN_int32_T; |
| 11853 | } |
| 11854 | } else { |
| 11855 | saturatedUnaryMinus = MAX_int32_T; |
| 11856 | } |
| 11857 | |
| 11858 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11859 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11860 | if (tmp_0 < 2.147483648E+9) { |
| 11861 | if (tmp_0 >= -2.147483648E+9) { |
| 11862 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11863 | } else { |
| 11864 | saturatedUnaryMinus = MIN_int32_T; |
| 11865 | } |
| 11866 | } else { |
| 11867 | saturatedUnaryMinus = MAX_int32_T; |
| 11868 | } |
| 11869 | |
| 11870 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11871 | break; |
| 11872 | |
| 11873 | case motor_IN_P8: |
| 11874 | /* During 'P8': '<S1>:32' */ |
| 11875 | break; |
| 11876 | |
| 11877 | case motor_IN_p11: |
| 11878 | /* During 'p11': '<S1>:126' */ |
| 11879 | if (fabs(motor_DWork.chu_jd) <= 0.02) { |
| 11880 | /* Transition: '<S1>:496' */ |
| 11881 | motor_DWork.is_xhzy = motor_IN_p12; |
| 11882 | motor_DWork.temporalCounter_i1 = 0U; |
| 11883 | |
| 11884 | /* Entry 'p12': '<S1>:76' */ |
| 11885 | motor_Y.Motor_En = true; |
| 11886 | |
| 11887 | /* 关电机 */ |
| 11888 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 11889 | } else { |
| 11890 | motor_DWork.chu_jd += 0.01; |
| 11891 | |
| 11892 | /* Inport: '<Root>/JD_In' */ |
| 11893 | /* 电机上行回零点 */ |
| 11894 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11895 | motor_B.JD_In = motor_U.JD_In; |
| 11896 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 11897 | |
| 11898 | /* Inport: '<Root>/Encode_Sp' */ |
| 11899 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 11900 | |
| 11901 | /* Inport: '<Root>/System_Order' */ |
| 11902 | motor_B.Slect_port = motor_U.System_Order; |
| 11903 | |
| 11904 | /* Inport: '<Root>/SGWY_In' */ |
| 11905 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 11906 | |
| 11907 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 11908 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 11909 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 11910 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 11911 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 11912 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 11913 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 11914 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 11915 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 11916 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 11917 | &motor_DWork.chu_jd); |
| 11918 | |
| 11919 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 11920 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 11921 | if (tmp_0 < 65536.0) { |
| 11922 | if (tmp_0 >= 0.0) { |
| 11923 | tmp = (uint16_T)tmp_0; |
| 11924 | } else { |
| 11925 | tmp = 0U; |
| 11926 | } |
| 11927 | } else { |
| 11928 | tmp = MAX_uint16_T; |
| 11929 | } |
| 11930 | |
| 11931 | motor_Y.PWMOUT = tmp; |
| 11932 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 11933 | if (tmp_0 < 2.147483648E+9) { |
| 11934 | if (tmp_0 >= -2.147483648E+9) { |
| 11935 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11936 | } else { |
| 11937 | saturatedUnaryMinus = MIN_int32_T; |
| 11938 | } |
| 11939 | } else { |
| 11940 | saturatedUnaryMinus = MAX_int32_T; |
| 11941 | } |
| 11942 | |
| 11943 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 11944 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 11945 | if (tmp_0 < 2.147483648E+9) { |
| 11946 | if (tmp_0 >= -2.147483648E+9) { |
| 11947 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 11948 | } else { |
| 11949 | saturatedUnaryMinus = MIN_int32_T; |
| 11950 | } |
| 11951 | } else { |
| 11952 | saturatedUnaryMinus = MAX_int32_T; |
| 11953 | } |
| 11954 | |
| 11955 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 11956 | } |
| 11957 | break; |
| 11958 | |
| 11959 | default: |
| 11960 | /* During 'p12': '<S1>:76' */ |
| 11961 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.2 / motor_DWork.Ts)) { |
| 11962 | /* Transition: '<S1>:494' */ |
| 11963 | /* Transition: '<S1>:406' */ |
| 11964 | motor_DWork.is_xhzy = motor_IN_NO_ACTIVE_CHILD; |
| 11965 | motor_DWork.is_Initialize = motor_IN_Check_Reset; |
| 11966 | |
| 11967 | /* Entry 'Check_Reset': '<S1>:71' */ |
| 11968 | motor_Y.Ini_Result = motor_Init_Result_Check(motor_Y.Flag_Cur, |
| 11969 | motor_Y.Flag_Temp_Up, (real_T)motor_Y.Flag_Temp_Down); |
| 11970 | motor_Y.DCZD = true; |
| 11971 | } |
| 11972 | break; |
| 11973 | } |
| 11974 | break; |
| 11975 | } |
| 11976 | |
| 11977 | if (guard2) { |
| 11978 | /* 开启制动 */ |
| 11979 | motor_Y.Ini_Result = motor_Init_Result_Check(motor_Y.Flag_Cur, |
| 11980 | motor_Y.Flag_Temp_Up, (real_T)motor_Y.Flag_Temp_Down); |
| 11981 | } |
| 11982 | |
| 11983 | if (guard1) { |
| 11984 | /* Inport: '<Root>/Up_Limit' */ |
| 11985 | if (motor_U.Up_Limit == 0) { |
| 11986 | /* Transition: '<S1>:488' */ |
| 11987 | /* 上限位开关低电平有效 */ |
| 11988 | motor_DWork.is_xhzy = motor_IN_P11; |
| 11989 | motor_DWork.temporalCounter_i1 = 0U; |
| 11990 | |
| 11991 | /* Entry 'P11': '<S1>:1170' */ |
| 11992 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 11993 | } else { |
| 11994 | motor_DWork.chu_jd += 0.01; |
| 11995 | |
| 11996 | /* Inport: '<Root>/JD_In' */ |
| 11997 | /* 电机上行; */ |
| 11998 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 11999 | motor_B.JD_In = motor_U.JD_In; |
| 12000 | tmp_0 = motor_DWork.Encode_Pos0; |
| 12001 | if (tmp_0 < 2.147483648E+9) { |
| 12002 | if (tmp_0 >= -2.147483648E+9) { |
| 12003 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 12004 | } else { |
| 12005 | saturatedUnaryMinus = MIN_int32_T; |
| 12006 | } |
| 12007 | } else { |
| 12008 | saturatedUnaryMinus = MAX_int32_T; |
| 12009 | } |
| 12010 | |
| 12011 | motor_B.Encode_Pos_c = saturatedUnaryMinus; |
| 12012 | |
| 12013 | /* Inport: '<Root>/Encode_Sp' */ |
| 12014 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 12015 | |
| 12016 | /* Inport: '<Root>/System_Order' */ |
| 12017 | motor_B.Slect_port = motor_U.System_Order; |
| 12018 | |
| 12019 | /* Inport: '<Root>/SGWY_In' */ |
| 12020 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 12021 | |
| 12022 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 12023 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 12024 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 12025 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 12026 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 12027 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 12028 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 12029 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 12030 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 12031 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 12032 | &motor_DWork.chu_jd); |
| 12033 | |
| 12034 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 12035 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 12036 | if (tmp_0 < 65536.0) { |
| 12037 | if (tmp_0 >= 0.0) { |
| 12038 | tmp = (uint16_T)tmp_0; |
| 12039 | } else { |
| 12040 | tmp = 0U; |
| 12041 | } |
| 12042 | } else { |
| 12043 | tmp = MAX_uint16_T; |
| 12044 | } |
| 12045 | |
| 12046 | motor_Y.PWMOUT = tmp; |
| 12047 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 12048 | if (tmp_0 < 2.147483648E+9) { |
| 12049 | if (tmp_0 >= -2.147483648E+9) { |
| 12050 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 12051 | } else { |
| 12052 | saturatedUnaryMinus = MIN_int32_T; |
| 12053 | } |
| 12054 | } else { |
| 12055 | saturatedUnaryMinus = MAX_int32_T; |
| 12056 | } |
| 12057 | |
| 12058 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 12059 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 12060 | if (tmp_0 < 2.147483648E+9) { |
| 12061 | if (tmp_0 >= -2.147483648E+9) { |
| 12062 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 12063 | } else { |
| 12064 | saturatedUnaryMinus = MIN_int32_T; |
| 12065 | } |
| 12066 | } else { |
| 12067 | saturatedUnaryMinus = MAX_int32_T; |
| 12068 | } |
| 12069 | |
| 12070 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 12071 | |
| 12072 | /* 电机上行 */ |
| 12073 | } |
| 12074 | |
| 12075 | /* End of Inport: '<Root>/Up_Limit' */ |
| 12076 | } |
| 12077 | } |
| 12078 | |
| 12079 | /* Function for Chart: '<Root>/Chart' */ |
| 12080 | static void motor_enter_atomic_XHZY_Run(void) |
| 12081 | { |
| 12082 | /* Entry 'XHZY_Run': '<S1>:150' */ |
| 12083 | motor_DWork.KG_En = 0U; |
| 12084 | motor_DWork.KG_JD = 1U; |
| 12085 | motor_DWork.KG_YJ = 1U; |
| 12086 | motor_DWork.EN_extern = 0U; |
| 12087 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12088 | motor_Y.Open_Result = 1U; |
| 12089 | motor_DWork.Forword = 0U; |
| 12090 | motor_DWork.P_KP = 380.0; |
| 12091 | motor_DWork.V_KP = 1.0; |
| 12092 | motor_DWork.V_KI = 10.0; |
| 12093 | motor_DWork.Runing_stable = 1U; |
| 12094 | } |
| 12095 | |
| 12096 | /* Function for Chart: '<Root>/Chart' */ |
| 12097 | static void motor_enter_atomic_XHZY_Run1(void) |
| 12098 | { |
| 12099 | /* Entry 'XHZY_Run1': '<S1>:1182' */ |
| 12100 | motor_DWork.KG_En = 0U; |
| 12101 | motor_DWork.KG_JD = 1U; |
| 12102 | motor_DWork.KG_YJ = 1U; |
| 12103 | motor_DWork.EN_extern = 1U; |
| 12104 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12105 | motor_Y.Open_Result = 1U; |
| 12106 | motor_DWork.Forword = 0U; |
| 12107 | motor_DWork.P_KP = 150.0; |
| 12108 | motor_DWork.V_KP = 0.5; |
| 12109 | motor_DWork.V_KI = 8.0; |
| 12110 | motor_DWork.Runing_stable = 1U; |
| 12111 | } |
| 12112 | |
| 12113 | /* Function for Chart: '<Root>/Chart' */ |
| 12114 | static void motor_exit_internal_Normal_Mode(void) |
| 12115 | { |
| 12116 | /* Exit Internal 'Normal_Mode': '<S1>:13' */ |
| 12117 | if (motor_DWork.is_Normal_Mode == motor_IN_p1_a) { |
| 12118 | /* Exit Internal 'p1': '<S1>:14' */ |
| 12119 | /* Exit Internal 'Enc_GZ': '<S1>:15' */ |
| 12120 | /* Exit Internal 'Enc2': '<S1>:16' */ |
| 12121 | motor_DWork.is_Enc2 = motor_IN_NO_ACTIVE_CHILD; |
| 12122 | motor_DWork.is_active_Enc2 = 0U; |
| 12123 | |
| 12124 | /* Exit Internal 'Enc1': '<S1>:20' */ |
| 12125 | motor_DWork.is_Enc1 = motor_IN_NO_ACTIVE_CHILD; |
| 12126 | motor_DWork.is_active_Enc1 = 0U; |
| 12127 | motor_DWork.is_active_Enc_GZ = 0U; |
| 12128 | |
| 12129 | /* Exit Internal 'RUN': '<S1>:23' */ |
| 12130 | /* Exit Internal 'Error_Check': '<S1>:1294' */ |
| 12131 | /* Exit Internal 'Error_Check': '<S1>:1306' */ |
| 12132 | motor_DWork.is_Error_Check_g = motor_IN_NO_ACTIVE_CHILD; |
| 12133 | motor_DWork.is_Error_Check = motor_IN_NO_ACTIVE_CHILD; |
| 12134 | |
| 12135 | /* Exit 'Error_Check': '<S1>:1294' */ |
| 12136 | motor_Y.Flag_AngleError = 1U; |
| 12137 | motor_DWork.is_active_Error_Check = 0U; |
| 12138 | |
| 12139 | /* Exit Internal 'Algorithm': '<S1>:165' */ |
| 12140 | switch (motor_DWork.is_Algorithm_l) { |
| 12141 | case motor_IN_HY: |
| 12142 | /* Exit Internal 'HY': '<S1>:167' */ |
| 12143 | switch (motor_DWork.is_HY) { |
| 12144 | case motor_IN_Sleeping_protect_2: |
| 12145 | /* Exit 'Sleeping_protect_2': '<S1>:166' */ |
| 12146 | /* 关电磁制动 */ |
| 12147 | motor_Y.DCZD = false; |
| 12148 | motor_DWork.is_HY = motor_IN_NO_ACTIVE_CHILD; |
| 12149 | break; |
| 12150 | |
| 12151 | case motor_IN_XHHY_Run: |
| 12152 | /* Exit 'XHHY_Run': '<S1>:170' */ |
| 12153 | motor_DWork.Runing_stable = 0U; |
| 12154 | motor_DWork.is_HY = motor_IN_NO_ACTIVE_CHILD; |
| 12155 | break; |
| 12156 | |
| 12157 | case motor_IN_XHHY_Run1: |
| 12158 | /* Exit 'XHHY_Run1': '<S1>:1232' */ |
| 12159 | motor_DWork.Runing_stable = 0U; |
| 12160 | motor_DWork.is_HY = motor_IN_NO_ACTIVE_CHILD; |
| 12161 | break; |
| 12162 | |
| 12163 | default: |
| 12164 | motor_DWork.is_HY = motor_IN_NO_ACTIVE_CHILD; |
| 12165 | break; |
| 12166 | } |
| 12167 | |
| 12168 | /* Exit 'HY': '<S1>:167' */ |
| 12169 | motor_DWork.P_KP = 1200.0; |
| 12170 | motor_DWork.V_KP = 0.08; |
| 12171 | motor_DWork.V_KI = 0.8; |
| 12172 | motor_DWork.is_Algorithm_l = motor_IN_NO_ACTIVE_CHILD; |
| 12173 | break; |
| 12174 | |
| 12175 | case motor_IN_XHHY: |
| 12176 | /* Exit Internal 'XHHY': '<S1>:149' */ |
| 12177 | switch (motor_DWork.is_XHHY) { |
| 12178 | case motor_IN_Sleeping_protect_2: |
| 12179 | /* Exit 'Sleeping_protect_2': '<S1>:174' */ |
| 12180 | /* 关电磁制动 */ |
| 12181 | motor_Y.DCZD = false; |
| 12182 | motor_DWork.is_XHHY = motor_IN_NO_ACTIVE_CHILD; |
| 12183 | break; |
| 12184 | |
| 12185 | case motor_IN_XHHY_Run: |
| 12186 | /* Exit 'XHHY_Run': '<S1>:364' */ |
| 12187 | motor_DWork.Runing_stable = 0U; |
| 12188 | motor_DWork.is_XHHY = motor_IN_NO_ACTIVE_CHILD; |
| 12189 | break; |
| 12190 | |
| 12191 | case motor_IN_XHHY_Run1: |
| 12192 | /* Exit 'XHHY_Run1': '<S1>:1198' */ |
| 12193 | motor_DWork.Runing_stable = 0U; |
| 12194 | motor_DWork.is_XHHY = motor_IN_NO_ACTIVE_CHILD; |
| 12195 | break; |
| 12196 | |
| 12197 | default: |
| 12198 | motor_DWork.is_XHHY = motor_IN_NO_ACTIVE_CHILD; |
| 12199 | break; |
| 12200 | } |
| 12201 | |
| 12202 | /* Exit 'XHHY': '<S1>:149' */ |
| 12203 | motor_DWork.P_KP = 330.0; |
| 12204 | motor_DWork.V_KP = 1.0; |
| 12205 | motor_DWork.V_KI = 10.0; |
| 12206 | motor_DWork.is_Algorithm_l = motor_IN_NO_ACTIVE_CHILD; |
| 12207 | break; |
| 12208 | |
| 12209 | case motor_IN_XHZY: |
| 12210 | /* Exit Internal 'XHZY': '<S1>:172' */ |
| 12211 | switch (motor_DWork.is_XHZY) { |
| 12212 | case motor_IN_Sleeping_protect_2: |
| 12213 | /* Exit 'Sleeping_protect_2': '<S1>:236' */ |
| 12214 | /* 关电磁制动 */ |
| 12215 | motor_Y.DCZD = false; |
| 12216 | motor_DWork.is_XHZY = motor_IN_NO_ACTIVE_CHILD; |
| 12217 | break; |
| 12218 | |
| 12219 | case motor_IN_XHZY_Run: |
| 12220 | /* Exit 'XHZY_Run': '<S1>:150' */ |
| 12221 | motor_DWork.Runing_stable = 0U; |
| 12222 | motor_DWork.is_XHZY = motor_IN_NO_ACTIVE_CHILD; |
| 12223 | break; |
| 12224 | |
| 12225 | case motor_IN_XHZY_Run1: |
| 12226 | /* Exit 'XHZY_Run1': '<S1>:1182' */ |
| 12227 | motor_DWork.Runing_stable = 0U; |
| 12228 | motor_DWork.is_XHZY = motor_IN_NO_ACTIVE_CHILD; |
| 12229 | break; |
| 12230 | |
| 12231 | default: |
| 12232 | motor_DWork.is_XHZY = motor_IN_NO_ACTIVE_CHILD; |
| 12233 | break; |
| 12234 | } |
| 12235 | |
| 12236 | /* Exit 'XHZY': '<S1>:172' */ |
| 12237 | motor_DWork.P_KP = 380.0; |
| 12238 | motor_DWork.V_KP = 1.0; |
| 12239 | motor_DWork.V_KI = 10.0; |
| 12240 | motor_DWork.Forword = 1U; |
| 12241 | motor_DWork.is_Algorithm_l = motor_IN_NO_ACTIVE_CHILD; |
| 12242 | break; |
| 12243 | |
| 12244 | default: |
| 12245 | motor_DWork.is_Algorithm_l = motor_IN_NO_ACTIVE_CHILD; |
| 12246 | break; |
| 12247 | } |
| 12248 | |
| 12249 | /* Exit 'Algorithm': '<S1>:165' */ |
| 12250 | motor_DWork.EN_extern = 0U; |
| 12251 | motor_DWork.is_active_Algorithm = 0U; |
| 12252 | |
| 12253 | /* Exit Internal 'Limit_Check': '<S1>:176' */ |
| 12254 | motor_DWork.is_Limit_Check = motor_IN_NO_ACTIVE_CHILD; |
| 12255 | motor_DWork.is_active_Limit_Check = 0U; |
| 12256 | |
| 12257 | /* Exit Internal 'GXDY_SJ_BJ': '<S1>:154' */ |
| 12258 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_NO_ACTIVE_CHILD; |
| 12259 | motor_DWork.is_active_GXDY_SJ_BJ = 0U; |
| 12260 | |
| 12261 | /* Exit Internal 'GXDY_COM_GZ': '<S1>:162' */ |
| 12262 | motor_DWork.is_GXDY_COM_GZ = motor_IN_NO_ACTIVE_CHILD; |
| 12263 | motor_DWork.is_active_GXDY_COM_GZ = 0U; |
| 12264 | motor_DWork.is_active_RUN = 0U; |
| 12265 | motor_DWork.is_Normal_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 12266 | } else { |
| 12267 | motor_DWork.is_Normal_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 12268 | } |
| 12269 | } |
| 12270 | |
| 12271 | /* Function for Chart: '<Root>/Chart' */ |
| 12272 | static void motor_HY(void) |
| 12273 | { |
| 12274 | int32_T tmp; |
| 12275 | real_T tmp_0; |
| 12276 | |
| 12277 | /* Inport: '<Root>/System_Order' */ |
| 12278 | /* During 'HY': '<S1>:167' */ |
| 12279 | if (motor_U.System_Order == 3) { |
| 12280 | /* Transition: '<S1>:558' */ |
| 12281 | /* Transition: '<S1>:557' */ |
| 12282 | motor_exit_internal_Normal_Mode(); |
| 12283 | motor_DWork.is_M_Run = motor_IN_Close; |
| 12284 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 12285 | motor_DWork.temporalCounter_i1 = 0U; |
| 12286 | |
| 12287 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 12288 | motor_Y.Open_Result = 4U; |
| 12289 | |
| 12290 | /* 正在关机 */ |
| 12291 | motor_Y.DCZD = false; |
| 12292 | |
| 12293 | /* 解除制动 */ |
| 12294 | motor_Y.Motor_En = false; |
| 12295 | |
| 12296 | /* 电机使能 */ |
| 12297 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12298 | motor_DWork.EN_extern = 0U; |
| 12299 | } else { |
| 12300 | switch (motor_DWork.is_HY) { |
| 12301 | case motor_IN_Sleeping_protect_1: |
| 12302 | /* During 'Sleeping_protect_1': '<S1>:233' */ |
| 12303 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 12304 | /* Transition: '<S1>:563' */ |
| 12305 | motor_DWork.is_HY = motor_IN_Sleeping_protect_2; |
| 12306 | |
| 12307 | /* Entry 'Sleeping_protect_2': '<S1>:166' */ |
| 12308 | motor_Y.DCZD = true; |
| 12309 | |
| 12310 | /* 开电磁制动 */ |
| 12311 | } |
| 12312 | break; |
| 12313 | |
| 12314 | case motor_IN_Sleeping_protect_2: |
| 12315 | /* During 'Sleeping_protect_2': '<S1>:166' */ |
| 12316 | if (motor_U.System_Order == 5) { |
| 12317 | /* Transition: '<S1>:566' */ |
| 12318 | /* Exit 'Sleeping_protect_2': '<S1>:166' */ |
| 12319 | /* 关电磁制动 */ |
| 12320 | motor_Y.DCZD = false; |
| 12321 | motor_DWork.is_HY = motor_IN_Sleeping_protect_3; |
| 12322 | motor_DWork.temporalCounter_i1 = 0U; |
| 12323 | |
| 12324 | /* Entry 'Sleeping_protect_3': '<S1>:232' */ |
| 12325 | motor_Y.Motor_En = false; |
| 12326 | |
| 12327 | /* 开电机 */ |
| 12328 | } |
| 12329 | break; |
| 12330 | |
| 12331 | case motor_IN_Sleeping_protect_3: |
| 12332 | /* During 'Sleeping_protect_3': '<S1>:232' */ |
| 12333 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 12334 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 12335 | /* Transition: '<S1>:569' */ |
| 12336 | if (motor_U.Gyroscope_Choose == 0) { |
| 12337 | /* Transition: '<S1>:1236' */ |
| 12338 | motor_DWork.is_HY = motor_IN_XHHY_Wait1; |
| 12339 | motor_DWork.temporalCounter_i1 = 0U; |
| 12340 | |
| 12341 | /* Entry 'XHHY_Wait1': '<S1>:365' */ |
| 12342 | motor_DWork.KG_JD = 1U; |
| 12343 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12344 | motor_Y.Open_Result = 1U; |
| 12345 | motor_DWork.Rate_limit_speed = 5000.0; |
| 12346 | motor_DWork.P_KP = 1200.0; |
| 12347 | motor_DWork.V_KP = 0.08; |
| 12348 | motor_DWork.V_KI = 0.8; |
| 12349 | motor_DWork.Saturation_limit_speed = 3000.0; |
| 12350 | } else { |
| 12351 | if (motor_U.Gyroscope_Choose == 1) { |
| 12352 | /* Transition: '<S1>:1234' */ |
| 12353 | motor_DWork.is_HY = motor_IN_XHHY_Wait2; |
| 12354 | motor_DWork.temporalCounter_i1 = 0U; |
| 12355 | |
| 12356 | /* Entry 'XHHY_Wait2': '<S1>:1227' */ |
| 12357 | motor_DWork.KG_JD = 1U; |
| 12358 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12359 | motor_Y.Open_Result = 1U; |
| 12360 | motor_DWork.Rate_limit_speed = 5000.0; |
| 12361 | motor_DWork.P_KP = 300.0; |
| 12362 | motor_DWork.V_KP = 0.08; |
| 12363 | motor_DWork.V_KI = 0.8; |
| 12364 | motor_DWork.Saturation_limit_speed = 3000.0; |
| 12365 | } |
| 12366 | } |
| 12367 | } |
| 12368 | break; |
| 12369 | |
| 12370 | case motor_IN_XHHY_Error1: |
| 12371 | /* Inport: '<Root>/GXDY_State' */ |
| 12372 | /* During 'XHHY_Error1': '<S1>:1138' */ |
| 12373 | if (!motor_U.GXDY_State) { |
| 12374 | /* Transition: '<S1>:1139' */ |
| 12375 | motor_Y.Motor_En = false; |
| 12376 | motor_DWork.is_HY = motor_IN_XHHY_Wait; |
| 12377 | motor_DWork.temporalCounter_i1 = 0U; |
| 12378 | |
| 12379 | /* Entry 'XHHY_Wait': '<S1>:178' */ |
| 12380 | /* Open_Result=uint8(1); |
| 12381 | 开机状态位成功 */ |
| 12382 | motor_DWork.In_State = 2U; |
| 12383 | motor_Y.PWMOUT = 2500U; |
| 12384 | |
| 12385 | /* during: |
| 12386 | [PWMOUT,JD_Error,JD_Out] = Motor_HYDG(JD_In,Encode_Pos,System_Order,Encode_Sp); */ |
| 12387 | } |
| 12388 | break; |
| 12389 | |
| 12390 | case motor_IN_XHHY_Run: |
| 12391 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 12392 | /* During 'XHHY_Run': '<S1>:170' */ |
| 12393 | if (motor_U.System_Order == 4) { |
| 12394 | /* Transition: '<S1>:567' */ |
| 12395 | /* Exit 'XHHY_Run': '<S1>:170' */ |
| 12396 | motor_DWork.Runing_stable = 0U; |
| 12397 | motor_DWork.is_HY = motor_IN_Sleeping_protect_1; |
| 12398 | motor_DWork.temporalCounter_i1 = 0U; |
| 12399 | |
| 12400 | /* Entry 'Sleeping_protect_1': '<S1>:233' */ |
| 12401 | motor_Y.Motor_En = true; |
| 12402 | |
| 12403 | /* 关电机 */ |
| 12404 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12405 | } else if (motor_U.Gyroscope_Choose != 0) { |
| 12406 | /* Transition: '<S1>:1237' */ |
| 12407 | /* Transition: '<S1>:1239' */ |
| 12408 | /* Transition: '<S1>:557' */ |
| 12409 | motor_exit_internal_Normal_Mode(); |
| 12410 | motor_DWork.is_M_Run = motor_IN_Close; |
| 12411 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 12412 | motor_DWork.temporalCounter_i1 = 0U; |
| 12413 | |
| 12414 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 12415 | motor_Y.Open_Result = 4U; |
| 12416 | |
| 12417 | /* 正在关机 */ |
| 12418 | motor_Y.DCZD = false; |
| 12419 | |
| 12420 | /* 解除制动 */ |
| 12421 | motor_Y.Motor_En = false; |
| 12422 | |
| 12423 | /* 电机使能 */ |
| 12424 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12425 | motor_DWork.EN_extern = 0U; |
| 12426 | } else { |
| 12427 | /* Inport: '<Root>/JD_In' */ |
| 12428 | /* 外部接口 */ |
| 12429 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 12430 | motor_B.JD_In_n = motor_U.JD_In; |
| 12431 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 12432 | motor_B.Slect_port_e = motor_U.System_Order; |
| 12433 | |
| 12434 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 12435 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 12436 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 12437 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 12438 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 12439 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 12440 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 12441 | &motor_DWork.Saturation_limit_speed, &motor_DWork.V_KI, |
| 12442 | &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 12443 | |
| 12444 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 12445 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 12446 | tmp_0 = motor_B.Motor_HYDG1.KP_e; |
| 12447 | if (tmp_0 < 2.147483648E+9) { |
| 12448 | if (tmp_0 >= -2.147483648E+9) { |
| 12449 | tmp = (int32_T)tmp_0; |
| 12450 | } else { |
| 12451 | tmp = MIN_int32_T; |
| 12452 | } |
| 12453 | } else { |
| 12454 | tmp = MAX_int32_T; |
| 12455 | } |
| 12456 | |
| 12457 | motor_Y.JD_Error = tmp; |
| 12458 | tmp_0 = motor_B.Motor_HYDG1.KP_JD; |
| 12459 | if (tmp_0 < 2.147483648E+9) { |
| 12460 | if (tmp_0 >= -2.147483648E+9) { |
| 12461 | tmp = (int32_T)tmp_0; |
| 12462 | } else { |
| 12463 | tmp = MIN_int32_T; |
| 12464 | } |
| 12465 | } else { |
| 12466 | tmp = MAX_int32_T; |
| 12467 | } |
| 12468 | |
| 12469 | motor_Y.JD_Out = tmp; |
| 12470 | } |
| 12471 | break; |
| 12472 | |
| 12473 | case motor_IN_XHHY_Run1: |
| 12474 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 12475 | /* During 'XHHY_Run1': '<S1>:1232' */ |
| 12476 | if (motor_U.System_Order == 4) { |
| 12477 | /* Transition: '<S1>:1233' */ |
| 12478 | /* Exit 'XHHY_Run1': '<S1>:1232' */ |
| 12479 | motor_DWork.Runing_stable = 0U; |
| 12480 | motor_DWork.is_HY = motor_IN_Sleeping_protect_1; |
| 12481 | motor_DWork.temporalCounter_i1 = 0U; |
| 12482 | |
| 12483 | /* Entry 'Sleeping_protect_1': '<S1>:233' */ |
| 12484 | motor_Y.Motor_En = true; |
| 12485 | |
| 12486 | /* 关电机 */ |
| 12487 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12488 | } else if (motor_U.Gyroscope_Choose != 1) { |
| 12489 | /* Transition: '<S1>:1238' */ |
| 12490 | /* Transition: '<S1>:1239' */ |
| 12491 | /* Transition: '<S1>:557' */ |
| 12492 | motor_exit_internal_Normal_Mode(); |
| 12493 | motor_DWork.is_M_Run = motor_IN_Close; |
| 12494 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 12495 | motor_DWork.temporalCounter_i1 = 0U; |
| 12496 | |
| 12497 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 12498 | motor_Y.Open_Result = 4U; |
| 12499 | |
| 12500 | /* 正在关机 */ |
| 12501 | motor_Y.DCZD = false; |
| 12502 | |
| 12503 | /* 解除制动 */ |
| 12504 | motor_Y.Motor_En = false; |
| 12505 | |
| 12506 | /* 电机使能 */ |
| 12507 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12508 | motor_DWork.EN_extern = 0U; |
| 12509 | } else { |
| 12510 | /* Inport: '<Root>/JD_In' */ |
| 12511 | /* 外部接口 */ |
| 12512 | /* Simulink Function 'Waveform_Build': '<S1>:1223' */ |
| 12513 | motor_B.JD_In_c = motor_U.JD_In; |
| 12514 | |
| 12515 | /* Outputs for Function Call SubSystem: '<S1>/Waveform_Build' */ |
| 12516 | motor_Waveform_Build(motor_M, motor_B.JD_In_c, &motor_B.Waveform_Build, |
| 12517 | &motor_DWork.Waveform_Build, |
| 12518 | (rtP_Waveform_Build_motor *)&motor_P.Waveform_Build, |
| 12519 | &motor_DWork.T, &motor_DWork.T_Count, |
| 12520 | &motor_DWork.Temp1, &motor_DWork.Temp2); |
| 12521 | |
| 12522 | /* End of Outputs for SubSystem: '<S1>/Waveform_Build' */ |
| 12523 | |
| 12524 | /* JD_forecast = JD_In; */ |
| 12525 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 12526 | motor_B.JD_In_n = motor_B.Waveform_Build.Gain2; |
| 12527 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 12528 | motor_B.Slect_port_e = motor_U.System_Order; |
| 12529 | |
| 12530 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 12531 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 12532 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 12533 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 12534 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 12535 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 12536 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 12537 | &motor_DWork.Saturation_limit_speed, &motor_DWork.V_KI, |
| 12538 | &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 12539 | |
| 12540 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 12541 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 12542 | tmp_0 = motor_B.Motor_HYDG1.KP_e; |
| 12543 | if (tmp_0 < 2.147483648E+9) { |
| 12544 | if (tmp_0 >= -2.147483648E+9) { |
| 12545 | tmp = (int32_T)tmp_0; |
| 12546 | } else { |
| 12547 | tmp = MIN_int32_T; |
| 12548 | } |
| 12549 | } else { |
| 12550 | tmp = MAX_int32_T; |
| 12551 | } |
| 12552 | |
| 12553 | motor_Y.JD_Error = tmp; |
| 12554 | tmp_0 = motor_B.Motor_HYDG1.KP_JD; |
| 12555 | if (tmp_0 < 2.147483648E+9) { |
| 12556 | if (tmp_0 >= -2.147483648E+9) { |
| 12557 | tmp = (int32_T)tmp_0; |
| 12558 | } else { |
| 12559 | tmp = MIN_int32_T; |
| 12560 | } |
| 12561 | } else { |
| 12562 | tmp = MAX_int32_T; |
| 12563 | } |
| 12564 | |
| 12565 | motor_Y.JD_Out = tmp; |
| 12566 | } |
| 12567 | break; |
| 12568 | |
| 12569 | case motor_IN_XHHY_Wait: |
| 12570 | /* During 'XHHY_Wait': '<S1>:178' */ |
| 12571 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 12572 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 12573 | /* Transition: '<S1>:983' */ |
| 12574 | if (motor_U.Gyroscope_Choose == 1) { |
| 12575 | /* Transition: '<S1>:1226' */ |
| 12576 | motor_DWork.is_HY = motor_IN_XHHY_Wait2; |
| 12577 | motor_DWork.temporalCounter_i1 = 0U; |
| 12578 | |
| 12579 | /* Entry 'XHHY_Wait2': '<S1>:1227' */ |
| 12580 | motor_DWork.KG_JD = 1U; |
| 12581 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12582 | motor_Y.Open_Result = 1U; |
| 12583 | motor_DWork.Rate_limit_speed = 5000.0; |
| 12584 | motor_DWork.P_KP = 300.0; |
| 12585 | motor_DWork.V_KP = 0.08; |
| 12586 | motor_DWork.V_KI = 0.8; |
| 12587 | motor_DWork.Saturation_limit_speed = 3000.0; |
| 12588 | } else { |
| 12589 | if (motor_U.Gyroscope_Choose == 0) { |
| 12590 | /* Inport: '<Root>/GXDY_State' */ |
| 12591 | /* Transition: '<S1>:571' */ |
| 12592 | if (motor_U.GXDY_State) { |
| 12593 | /* Transition: '<S1>:984' */ |
| 12594 | motor_DWork.is_HY = motor_IN_XHHY_Error1; |
| 12595 | |
| 12596 | /* Entry 'XHHY_Error1': '<S1>:1138' */ |
| 12597 | motor_Y.Motor_En = true; |
| 12598 | |
| 12599 | /* 关电机 */ |
| 12600 | motor_Y.Open_Result = 2U; |
| 12601 | } else { |
| 12602 | /* Transition: '<S1>:1254' */ |
| 12603 | /* 惯性单元拉低 */ |
| 12604 | motor_DWork.is_HY = motor_IN_XHHY_Wait1; |
| 12605 | motor_DWork.temporalCounter_i1 = 0U; |
| 12606 | |
| 12607 | /* Entry 'XHHY_Wait1': '<S1>:365' */ |
| 12608 | motor_DWork.KG_JD = 1U; |
| 12609 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12610 | motor_Y.Open_Result = 1U; |
| 12611 | motor_DWork.Rate_limit_speed = 5000.0; |
| 12612 | motor_DWork.P_KP = 1200.0; |
| 12613 | motor_DWork.V_KP = 0.08; |
| 12614 | motor_DWork.V_KI = 0.8; |
| 12615 | motor_DWork.Saturation_limit_speed = 3000.0; |
| 12616 | } |
| 12617 | } |
| 12618 | } |
| 12619 | } |
| 12620 | break; |
| 12621 | |
| 12622 | case motor_IN_XHHY_Wait1: |
| 12623 | /* During 'XHHY_Wait1': '<S1>:365' */ |
| 12624 | if (motor_DWork.Saturation_limit_speed >= 16000.0) { |
| 12625 | /* Transition: '<S1>:570' */ |
| 12626 | motor_DWork.is_HY = motor_IN_XHHY_Run; |
| 12627 | |
| 12628 | /* Entry 'XHHY_Run': '<S1>:170' */ |
| 12629 | motor_DWork.KG_JD = 1U; |
| 12630 | motor_DWork.Rate_limit_speed = 50000.0; |
| 12631 | motor_DWork.Saturation_limit_speed = 16000.0; |
| 12632 | motor_DWork.Runing_stable = 1U; |
| 12633 | } else if (motor_DWork.temporalCounter_i1 >= 10U) { |
| 12634 | /* Transition: '<S1>:1178' */ |
| 12635 | motor_DWork.is_HY = motor_IN_XHHY_Run; |
| 12636 | |
| 12637 | /* Entry 'XHHY_Run': '<S1>:170' */ |
| 12638 | motor_DWork.KG_JD = 1U; |
| 12639 | motor_DWork.Rate_limit_speed = 50000.0; |
| 12640 | motor_DWork.Saturation_limit_speed = 16000.0; |
| 12641 | motor_DWork.Runing_stable = 1U; |
| 12642 | } else { |
| 12643 | /* Inport: '<Root>/JD_In' */ |
| 12644 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 12645 | motor_B.JD_In_n = motor_U.JD_In; |
| 12646 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 12647 | motor_B.Slect_port_e = motor_U.System_Order; |
| 12648 | |
| 12649 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 12650 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 12651 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 12652 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 12653 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 12654 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 12655 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 12656 | &motor_DWork.Saturation_limit_speed, &motor_DWork.V_KI, |
| 12657 | &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 12658 | |
| 12659 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 12660 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 12661 | tmp_0 = motor_B.Motor_HYDG1.KP_e; |
| 12662 | if (tmp_0 < 2.147483648E+9) { |
| 12663 | if (tmp_0 >= -2.147483648E+9) { |
| 12664 | tmp = (int32_T)tmp_0; |
| 12665 | } else { |
| 12666 | tmp = MIN_int32_T; |
| 12667 | } |
| 12668 | } else { |
| 12669 | tmp = MAX_int32_T; |
| 12670 | } |
| 12671 | |
| 12672 | motor_Y.JD_Error = tmp; |
| 12673 | tmp_0 = motor_B.Motor_HYDG1.KP_JD; |
| 12674 | if (tmp_0 < 2.147483648E+9) { |
| 12675 | if (tmp_0 >= -2.147483648E+9) { |
| 12676 | tmp = (int32_T)tmp_0; |
| 12677 | } else { |
| 12678 | tmp = MIN_int32_T; |
| 12679 | } |
| 12680 | } else { |
| 12681 | tmp = MAX_int32_T; |
| 12682 | } |
| 12683 | |
| 12684 | motor_Y.JD_Out = tmp; |
| 12685 | |
| 12686 | /* Saturation_limit_speed=Saturation_limit_speed+12; */ |
| 12687 | motor_DWork.Saturation_limit_speed = fabs((16000.0 - |
| 12688 | motor_DWork.Saturation_limit_speed) / (real_T)mul_s32_s32_s32_sat |
| 12689 | (100000, motor_Y.JD_Error)) + (motor_DWork.Saturation_limit_speed + |
| 12690 | 5.0); |
| 12691 | } |
| 12692 | break; |
| 12693 | |
| 12694 | default: |
| 12695 | /* During 'XHHY_Wait2': '<S1>:1227' */ |
| 12696 | if (motor_DWork.Saturation_limit_speed >= 16000.0) { |
| 12697 | /* Transition: '<S1>:1231' */ |
| 12698 | motor_DWork.is_HY = motor_IN_XHHY_Run1; |
| 12699 | |
| 12700 | /* Entry 'XHHY_Run1': '<S1>:1232' */ |
| 12701 | motor_DWork.KG_JD = 1U; |
| 12702 | motor_DWork.Rate_limit_speed = 50000.0; |
| 12703 | motor_DWork.Saturation_limit_speed = 16000.0; |
| 12704 | motor_DWork.Runing_stable = 1U; |
| 12705 | } else if (motor_DWork.temporalCounter_i1 >= 10U) { |
| 12706 | /* Transition: '<S1>:1229' */ |
| 12707 | motor_DWork.is_HY = motor_IN_XHHY_Run1; |
| 12708 | |
| 12709 | /* Entry 'XHHY_Run1': '<S1>:1232' */ |
| 12710 | motor_DWork.KG_JD = 1U; |
| 12711 | motor_DWork.Rate_limit_speed = 50000.0; |
| 12712 | motor_DWork.Saturation_limit_speed = 16000.0; |
| 12713 | motor_DWork.Runing_stable = 1U; |
| 12714 | } else { |
| 12715 | /* Inport: '<Root>/JD_In' */ |
| 12716 | /* Simulink Function 'Waveform_Build': '<S1>:1223' */ |
| 12717 | motor_B.JD_In_c = motor_U.JD_In; |
| 12718 | |
| 12719 | /* Outputs for Function Call SubSystem: '<S1>/Waveform_Build' */ |
| 12720 | motor_Waveform_Build(motor_M, motor_B.JD_In_c, &motor_B.Waveform_Build, |
| 12721 | &motor_DWork.Waveform_Build, |
| 12722 | (rtP_Waveform_Build_motor *)&motor_P.Waveform_Build, |
| 12723 | &motor_DWork.T, &motor_DWork.T_Count, |
| 12724 | &motor_DWork.Temp1, &motor_DWork.Temp2); |
| 12725 | |
| 12726 | /* End of Outputs for SubSystem: '<S1>/Waveform_Build' */ |
| 12727 | |
| 12728 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 12729 | motor_B.JD_In_n = motor_B.Waveform_Build.Gain2; |
| 12730 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 12731 | motor_B.Slect_port_e = motor_U.System_Order; |
| 12732 | |
| 12733 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 12734 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 12735 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 12736 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 12737 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 12738 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 12739 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 12740 | &motor_DWork.Saturation_limit_speed, &motor_DWork.V_KI, |
| 12741 | &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 12742 | |
| 12743 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 12744 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 12745 | tmp_0 = motor_B.Motor_HYDG1.KP_e; |
| 12746 | if (tmp_0 < 2.147483648E+9) { |
| 12747 | if (tmp_0 >= -2.147483648E+9) { |
| 12748 | tmp = (int32_T)tmp_0; |
| 12749 | } else { |
| 12750 | tmp = MIN_int32_T; |
| 12751 | } |
| 12752 | } else { |
| 12753 | tmp = MAX_int32_T; |
| 12754 | } |
| 12755 | |
| 12756 | motor_Y.JD_Error = tmp; |
| 12757 | tmp_0 = motor_B.Motor_HYDG1.KP_JD; |
| 12758 | if (tmp_0 < 2.147483648E+9) { |
| 12759 | if (tmp_0 >= -2.147483648E+9) { |
| 12760 | tmp = (int32_T)tmp_0; |
| 12761 | } else { |
| 12762 | tmp = MIN_int32_T; |
| 12763 | } |
| 12764 | } else { |
| 12765 | tmp = MAX_int32_T; |
| 12766 | } |
| 12767 | |
| 12768 | motor_Y.JD_Out = tmp; |
| 12769 | motor_DWork.Saturation_limit_speed = fabs((16000.0 - |
| 12770 | motor_DWork.Saturation_limit_speed) / (real_T)mul_s32_s32_s32_sat |
| 12771 | (100000, motor_Y.JD_Error)) + (motor_DWork.Saturation_limit_speed + |
| 12772 | 5.0); |
| 12773 | } |
| 12774 | break; |
| 12775 | } |
| 12776 | } |
| 12777 | |
| 12778 | /* End of Inport: '<Root>/System_Order' */ |
| 12779 | } |
| 12780 | |
| 12781 | /* Function for Chart: '<Root>/Chart' */ |
| 12782 | static void motor_XHHY(void) |
| 12783 | { |
| 12784 | boolean_T guard1 = false; |
| 12785 | int32_T tmp; |
| 12786 | uint16_T tmp_0; |
| 12787 | real_T tmp_1; |
| 12788 | |
| 12789 | /* Inport: '<Root>/System_Order' */ |
| 12790 | /* During 'XHHY': '<S1>:149' */ |
| 12791 | if (motor_U.System_Order == 3) { |
| 12792 | /* Transition: '<S1>:553' */ |
| 12793 | /* Transition: '<S1>:557' */ |
| 12794 | motor_exit_internal_Normal_Mode(); |
| 12795 | motor_DWork.is_M_Run = motor_IN_Close; |
| 12796 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 12797 | motor_DWork.temporalCounter_i1 = 0U; |
| 12798 | |
| 12799 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 12800 | motor_Y.Open_Result = 4U; |
| 12801 | |
| 12802 | /* 正在关机 */ |
| 12803 | motor_Y.DCZD = false; |
| 12804 | |
| 12805 | /* 解除制动 */ |
| 12806 | motor_Y.Motor_En = false; |
| 12807 | |
| 12808 | /* 电机使能 */ |
| 12809 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12810 | motor_DWork.EN_extern = 0U; |
| 12811 | } else { |
| 12812 | switch (motor_DWork.is_XHHY) { |
| 12813 | case motor_IN_Sleeping_protect_1: |
| 12814 | /* During 'Sleeping_protect_1': '<S1>:231' */ |
| 12815 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 12816 | /* Transition: '<S1>:527' */ |
| 12817 | motor_DWork.is_XHHY = motor_IN_Sleeping_protect_2; |
| 12818 | |
| 12819 | /* Entry 'Sleeping_protect_2': '<S1>:174' */ |
| 12820 | motor_Y.DCZD = true; |
| 12821 | |
| 12822 | /* 开电磁制动 */ |
| 12823 | } |
| 12824 | break; |
| 12825 | |
| 12826 | case motor_IN_Sleeping_protect_2: |
| 12827 | /* During 'Sleeping_protect_2': '<S1>:174' */ |
| 12828 | if (motor_U.System_Order == 5) { |
| 12829 | /* Transition: '<S1>:530' */ |
| 12830 | /* Exit 'Sleeping_protect_2': '<S1>:174' */ |
| 12831 | /* 关电磁制动 */ |
| 12832 | motor_Y.DCZD = false; |
| 12833 | motor_DWork.is_XHHY = motor_IN_Sleeping_protect_3; |
| 12834 | motor_DWork.temporalCounter_i1 = 0U; |
| 12835 | |
| 12836 | /* Entry 'Sleeping_protect_3': '<S1>:230' */ |
| 12837 | motor_Y.Motor_En = false; |
| 12838 | |
| 12839 | /* 开电机 */ |
| 12840 | } |
| 12841 | break; |
| 12842 | |
| 12843 | case motor_IN_Sleeping_protect_3: |
| 12844 | /* During 'Sleeping_protect_3': '<S1>:230' */ |
| 12845 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 12846 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 12847 | /* Transition: '<S1>:532' */ |
| 12848 | if (motor_U.Gyroscope_Choose == 0) { |
| 12849 | /* Transition: '<S1>:1204' */ |
| 12850 | motor_DWork.is_XHHY = motor_IN_XHHY_Run; |
| 12851 | |
| 12852 | /* Entry 'XHHY_Run': '<S1>:364' */ |
| 12853 | motor_DWork.KG_En = 0U; |
| 12854 | motor_DWork.KG_JD = 1U; |
| 12855 | motor_DWork.EN_extern = 0U; |
| 12856 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12857 | motor_Y.Open_Result = 1U; |
| 12858 | motor_DWork.Runing_stable = 1U; |
| 12859 | motor_DWork.P_KP = 330.0; |
| 12860 | motor_DWork.V_KP = 1.0; |
| 12861 | motor_DWork.V_KI = 10.0; |
| 12862 | } else { |
| 12863 | if (motor_U.Gyroscope_Choose == 1) { |
| 12864 | /* Transition: '<S1>:1205' */ |
| 12865 | motor_DWork.is_XHHY = motor_IN_XHHY_Run1; |
| 12866 | |
| 12867 | /* Entry 'XHHY_Run1': '<S1>:1198' */ |
| 12868 | motor_DWork.KG_En = 0U; |
| 12869 | motor_DWork.KG_JD = 1U; |
| 12870 | motor_DWork.EN_extern = 1U; |
| 12871 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 12872 | motor_Y.Open_Result = 1U; |
| 12873 | motor_DWork.Runing_stable = 1U; |
| 12874 | motor_DWork.P_KP = 150.0; |
| 12875 | motor_DWork.V_KP = 0.5; |
| 12876 | motor_DWork.V_KI = 8.0; |
| 12877 | } |
| 12878 | } |
| 12879 | } |
| 12880 | break; |
| 12881 | |
| 12882 | case motor_IN_XHHY_Error1: |
| 12883 | /* Inport: '<Root>/GXDY_State' */ |
| 12884 | /* During 'XHHY_Error1': '<S1>:1140' */ |
| 12885 | if (!motor_U.GXDY_State) { |
| 12886 | /* Transition: '<S1>:1141' */ |
| 12887 | motor_Y.Motor_En = false; |
| 12888 | motor_DWork.is_XHHY = motor_IN_XHHY_Wait; |
| 12889 | motor_DWork.temporalCounter_i1 = 0U; |
| 12890 | |
| 12891 | /* Entry 'XHHY_Wait': '<S1>:175' */ |
| 12892 | motor_DWork.In_State = 2U; |
| 12893 | motor_DWork.KG_En = 1U; |
| 12894 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12895 | |
| 12896 | /* during:[PWMOUT,JD_Out,JD_Error] = Motor_XHHY(JD_In,Encode_Pos,Encode_Sp,System_Order,SGWY_In); */ |
| 12897 | } |
| 12898 | break; |
| 12899 | |
| 12900 | case motor_IN_XHHY_Run: |
| 12901 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 12902 | /* During 'XHHY_Run': '<S1>:364' */ |
| 12903 | if (motor_U.System_Order == 4) { |
| 12904 | /* Transition: '<S1>:531' */ |
| 12905 | /* Exit 'XHHY_Run': '<S1>:364' */ |
| 12906 | motor_DWork.Runing_stable = 0U; |
| 12907 | motor_DWork.is_XHHY = motor_IN_Sleeping_protect_1; |
| 12908 | motor_DWork.temporalCounter_i1 = 0U; |
| 12909 | |
| 12910 | /* Entry 'Sleeping_protect_1': '<S1>:231' */ |
| 12911 | motor_Y.Motor_En = true; |
| 12912 | |
| 12913 | /* 关电机 */ |
| 12914 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12915 | } else if (motor_U.Gyroscope_Choose != 0) { |
| 12916 | /* Transition: '<S1>:1207' */ |
| 12917 | /* Transition: '<S1>:1209' */ |
| 12918 | /* Transition: '<S1>:557' */ |
| 12919 | motor_exit_internal_Normal_Mode(); |
| 12920 | motor_DWork.is_M_Run = motor_IN_Close; |
| 12921 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 12922 | motor_DWork.temporalCounter_i1 = 0U; |
| 12923 | |
| 12924 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 12925 | motor_Y.Open_Result = 4U; |
| 12926 | |
| 12927 | /* 正在关机 */ |
| 12928 | motor_Y.DCZD = false; |
| 12929 | |
| 12930 | /* 解除制动 */ |
| 12931 | motor_Y.Motor_En = false; |
| 12932 | |
| 12933 | /* 电机使能 */ |
| 12934 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 12935 | motor_DWork.EN_extern = 0U; |
| 12936 | } else { |
| 12937 | /* Inport: '<Root>/JD_In' */ |
| 12938 | /* 内部陀螺 */ |
| 12939 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 12940 | motor_B.JD_In = motor_U.JD_In; |
| 12941 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 12942 | |
| 12943 | /* Inport: '<Root>/Encode_Sp' */ |
| 12944 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 12945 | motor_B.Slect_port = motor_U.System_Order; |
| 12946 | |
| 12947 | /* Inport: '<Root>/SGWY_In' */ |
| 12948 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 12949 | |
| 12950 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 12951 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 12952 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 12953 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 12954 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 12955 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 12956 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 12957 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 12958 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 12959 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 12960 | &motor_DWork.chu_jd); |
| 12961 | |
| 12962 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 12963 | tmp_1 = motor_B.Motor_XHHY.ZXF_PWM; |
| 12964 | if (tmp_1 < 65536.0) { |
| 12965 | if (tmp_1 >= 0.0) { |
| 12966 | tmp_0 = (uint16_T)tmp_1; |
| 12967 | } else { |
| 12968 | tmp_0 = 0U; |
| 12969 | } |
| 12970 | } else { |
| 12971 | tmp_0 = MAX_uint16_T; |
| 12972 | } |
| 12973 | |
| 12974 | motor_Y.PWMOUT = tmp_0; |
| 12975 | tmp_1 = motor_B.Motor_XHHY.KP_JD1; |
| 12976 | if (tmp_1 < 2.147483648E+9) { |
| 12977 | if (tmp_1 >= -2.147483648E+9) { |
| 12978 | tmp = (int32_T)tmp_1; |
| 12979 | } else { |
| 12980 | tmp = MIN_int32_T; |
| 12981 | } |
| 12982 | } else { |
| 12983 | tmp = MAX_int32_T; |
| 12984 | } |
| 12985 | |
| 12986 | motor_Y.JD_Out = tmp; |
| 12987 | tmp_1 = motor_B.Motor_XHHY.KP_e; |
| 12988 | if (tmp_1 < 2.147483648E+9) { |
| 12989 | if (tmp_1 >= -2.147483648E+9) { |
| 12990 | tmp = (int32_T)tmp_1; |
| 12991 | } else { |
| 12992 | tmp = MIN_int32_T; |
| 12993 | } |
| 12994 | } else { |
| 12995 | tmp = MAX_int32_T; |
| 12996 | } |
| 12997 | |
| 12998 | motor_Y.JD_Error = tmp; |
| 12999 | } |
| 13000 | break; |
| 13001 | |
| 13002 | case motor_IN_XHHY_Run1: |
| 13003 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13004 | /* During 'XHHY_Run1': '<S1>:1198' */ |
| 13005 | if (motor_U.System_Order == 4) { |
| 13006 | /* Transition: '<S1>:1202' */ |
| 13007 | /* Exit 'XHHY_Run1': '<S1>:1198' */ |
| 13008 | motor_DWork.Runing_stable = 0U; |
| 13009 | motor_DWork.is_XHHY = motor_IN_Sleeping_protect_1; |
| 13010 | motor_DWork.temporalCounter_i1 = 0U; |
| 13011 | |
| 13012 | /* Entry 'Sleeping_protect_1': '<S1>:231' */ |
| 13013 | motor_Y.Motor_En = true; |
| 13014 | |
| 13015 | /* 关电机 */ |
| 13016 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13017 | } else if (motor_U.Gyroscope_Choose != 1) { |
| 13018 | /* Transition: '<S1>:1208' */ |
| 13019 | /* Transition: '<S1>:1209' */ |
| 13020 | /* Transition: '<S1>:557' */ |
| 13021 | motor_exit_internal_Normal_Mode(); |
| 13022 | motor_DWork.is_M_Run = motor_IN_Close; |
| 13023 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 13024 | motor_DWork.temporalCounter_i1 = 0U; |
| 13025 | |
| 13026 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 13027 | motor_Y.Open_Result = 4U; |
| 13028 | |
| 13029 | /* 正在关机 */ |
| 13030 | motor_Y.DCZD = false; |
| 13031 | |
| 13032 | /* 解除制动 */ |
| 13033 | motor_Y.Motor_En = false; |
| 13034 | |
| 13035 | /* 电机使能 */ |
| 13036 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13037 | motor_DWork.EN_extern = 0U; |
| 13038 | } else { |
| 13039 | /* Inport: '<Root>/JD_In' */ |
| 13040 | /* 外部陀螺 */ |
| 13041 | /* Simulink Function 'Waveform_Build': '<S1>:1223' */ |
| 13042 | motor_B.JD_In_c = motor_U.JD_In; |
| 13043 | |
| 13044 | /* Outputs for Function Call SubSystem: '<S1>/Waveform_Build' */ |
| 13045 | motor_Waveform_Build(motor_M, motor_B.JD_In_c, &motor_B.Waveform_Build, |
| 13046 | &motor_DWork.Waveform_Build, |
| 13047 | (rtP_Waveform_Build_motor *)&motor_P.Waveform_Build, |
| 13048 | &motor_DWork.T, &motor_DWork.T_Count, |
| 13049 | &motor_DWork.Temp1, &motor_DWork.Temp2); |
| 13050 | |
| 13051 | /* End of Outputs for SubSystem: '<S1>/Waveform_Build' */ |
| 13052 | |
| 13053 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 13054 | motor_B.JD_In = motor_B.Waveform_Build.Gain2; |
| 13055 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 13056 | |
| 13057 | /* Inport: '<Root>/Encode_Sp' */ |
| 13058 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 13059 | motor_B.Slect_port = motor_U.System_Order; |
| 13060 | |
| 13061 | /* Inport: '<Root>/SGWY_In' */ |
| 13062 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 13063 | |
| 13064 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 13065 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 13066 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 13067 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 13068 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 13069 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 13070 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 13071 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 13072 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 13073 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 13074 | &motor_DWork.chu_jd); |
| 13075 | |
| 13076 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 13077 | tmp_1 = motor_B.Motor_XHHY.ZXF_PWM; |
| 13078 | if (tmp_1 < 65536.0) { |
| 13079 | if (tmp_1 >= 0.0) { |
| 13080 | tmp_0 = (uint16_T)tmp_1; |
| 13081 | } else { |
| 13082 | tmp_0 = 0U; |
| 13083 | } |
| 13084 | } else { |
| 13085 | tmp_0 = MAX_uint16_T; |
| 13086 | } |
| 13087 | |
| 13088 | motor_Y.PWMOUT = tmp_0; |
| 13089 | tmp_1 = motor_B.Motor_XHHY.KP_JD1; |
| 13090 | if (tmp_1 < 2.147483648E+9) { |
| 13091 | if (tmp_1 >= -2.147483648E+9) { |
| 13092 | tmp = (int32_T)tmp_1; |
| 13093 | } else { |
| 13094 | tmp = MIN_int32_T; |
| 13095 | } |
| 13096 | } else { |
| 13097 | tmp = MAX_int32_T; |
| 13098 | } |
| 13099 | |
| 13100 | motor_Y.JD_Out = tmp; |
| 13101 | tmp_1 = motor_B.Motor_XHHY.KP_e; |
| 13102 | if (tmp_1 < 2.147483648E+9) { |
| 13103 | if (tmp_1 >= -2.147483648E+9) { |
| 13104 | tmp = (int32_T)tmp_1; |
| 13105 | } else { |
| 13106 | tmp = MIN_int32_T; |
| 13107 | } |
| 13108 | } else { |
| 13109 | tmp = MAX_int32_T; |
| 13110 | } |
| 13111 | |
| 13112 | motor_Y.JD_Error = tmp; |
| 13113 | } |
| 13114 | break; |
| 13115 | |
| 13116 | default: |
| 13117 | /* During 'XHHY_Wait': '<S1>:175' */ |
| 13118 | if (motor_DWork.temporalCounter_i1 >= 500U) { |
| 13119 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13120 | /* Transition: '<S1>:954' */ |
| 13121 | if (motor_U.Gyroscope_Choose == 0) { |
| 13122 | /* Inport: '<Root>/GXDY_State' */ |
| 13123 | /* Transition: '<S1>:533' */ |
| 13124 | if (!motor_U.GXDY_State) { |
| 13125 | /* Transition: '<S1>:1200' */ |
| 13126 | /* 惯性单元拉低 */ |
| 13127 | motor_DWork.is_XHHY = motor_IN_XHHY_Run; |
| 13128 | |
| 13129 | /* Entry 'XHHY_Run': '<S1>:364' */ |
| 13130 | motor_DWork.KG_En = 0U; |
| 13131 | motor_DWork.KG_JD = 1U; |
| 13132 | motor_DWork.EN_extern = 0U; |
| 13133 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 13134 | motor_Y.Open_Result = 1U; |
| 13135 | motor_DWork.Runing_stable = 1U; |
| 13136 | motor_DWork.P_KP = 330.0; |
| 13137 | motor_DWork.V_KP = 1.0; |
| 13138 | motor_DWork.V_KI = 10.0; |
| 13139 | } else { |
| 13140 | /* Transition: '<S1>:981' */ |
| 13141 | motor_DWork.is_XHHY = motor_IN_XHHY_Error1; |
| 13142 | |
| 13143 | /* Entry 'XHHY_Error1': '<S1>:1140' */ |
| 13144 | motor_Y.Motor_En = true; |
| 13145 | |
| 13146 | /* 关电机 */ |
| 13147 | motor_Y.Open_Result = 2U; |
| 13148 | } |
| 13149 | } else { |
| 13150 | guard1 = true; |
| 13151 | } |
| 13152 | } |
| 13153 | break; |
| 13154 | } |
| 13155 | |
| 13156 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13157 | if (guard1 && (motor_U.Gyroscope_Choose == 1)) { |
| 13158 | /* Transition: '<S1>:1201' */ |
| 13159 | motor_DWork.is_XHHY = motor_IN_XHHY_Run1; |
| 13160 | |
| 13161 | /* Entry 'XHHY_Run1': '<S1>:1198' */ |
| 13162 | motor_DWork.KG_En = 0U; |
| 13163 | motor_DWork.KG_JD = 1U; |
| 13164 | motor_DWork.EN_extern = 1U; |
| 13165 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 13166 | motor_Y.Open_Result = 1U; |
| 13167 | motor_DWork.Runing_stable = 1U; |
| 13168 | motor_DWork.P_KP = 150.0; |
| 13169 | motor_DWork.V_KP = 0.5; |
| 13170 | motor_DWork.V_KI = 8.0; |
| 13171 | } |
| 13172 | } |
| 13173 | |
| 13174 | /* End of Inport: '<Root>/System_Order' */ |
| 13175 | } |
| 13176 | |
| 13177 | /* Function for Chart: '<Root>/Chart' */ |
| 13178 | static void motor_Algorithm_a(void) |
| 13179 | { |
| 13180 | boolean_T guard1 = false; |
| 13181 | int32_T tmp; |
| 13182 | uint16_T tmp_0; |
| 13183 | real_T tmp_1; |
| 13184 | |
| 13185 | /* During 'Algorithm': '<S1>:165' */ |
| 13186 | switch (motor_DWork.is_Algorithm_l) { |
| 13187 | case motor_IN_Defualt: |
| 13188 | /* Inport: '<Root>/Motor_Num' */ |
| 13189 | /* During 'Defualt': '<S1>:147' */ |
| 13190 | if (motor_U.Motor_Num == 3) { |
| 13191 | /* Transition: '<S1>:552' */ |
| 13192 | motor_DWork.is_Algorithm_l = motor_IN_XHHY; |
| 13193 | |
| 13194 | /* Entry Internal 'XHHY': '<S1>:149' */ |
| 13195 | /* Transition: '<S1>:526' */ |
| 13196 | motor_DWork.is_XHHY = motor_IN_XHHY_Wait; |
| 13197 | motor_DWork.temporalCounter_i1 = 0U; |
| 13198 | |
| 13199 | /* Entry 'XHHY_Wait': '<S1>:175' */ |
| 13200 | motor_DWork.In_State = 2U; |
| 13201 | motor_DWork.KG_En = 1U; |
| 13202 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13203 | |
| 13204 | /* during:[PWMOUT,JD_Out,JD_Error] = Motor_XHHY(JD_In,Encode_Pos,Encode_Sp,System_Order,SGWY_In); */ |
| 13205 | } else if (motor_U.Motor_Num == 2) { |
| 13206 | /* Transition: '<S1>:554' */ |
| 13207 | motor_DWork.is_Algorithm_l = motor_IN_HY; |
| 13208 | |
| 13209 | /* Entry Internal 'HY': '<S1>:167' */ |
| 13210 | /* Transition: '<S1>:562' */ |
| 13211 | motor_DWork.is_HY = motor_IN_XHHY_Wait; |
| 13212 | motor_DWork.temporalCounter_i1 = 0U; |
| 13213 | |
| 13214 | /* Entry 'XHHY_Wait': '<S1>:178' */ |
| 13215 | /* Open_Result=uint8(1); |
| 13216 | 开机状态位成功 */ |
| 13217 | motor_DWork.In_State = 2U; |
| 13218 | motor_Y.PWMOUT = 2500U; |
| 13219 | |
| 13220 | /* during: |
| 13221 | [PWMOUT,JD_Error,JD_Out] = Motor_HYDG(JD_In,Encode_Pos,System_Order,Encode_Sp); */ |
| 13222 | } else { |
| 13223 | if (motor_U.Motor_Num == 1) { |
| 13224 | /* Transition: '<S1>:555' */ |
| 13225 | motor_DWork.is_Algorithm_l = motor_IN_XHZY; |
| 13226 | |
| 13227 | /* Entry Internal 'XHZY': '<S1>:172' */ |
| 13228 | /* Transition: '<S1>:572' */ |
| 13229 | motor_DWork.is_XHZY = motor_IN_XHZY_Wait; |
| 13230 | motor_DWork.temporalCounter_i1 = 0U; |
| 13231 | |
| 13232 | /* Entry 'XHZY_Wait': '<S1>:177' */ |
| 13233 | motor_DWork.In_State = 2U; |
| 13234 | motor_DWork.KG_En = 1U; |
| 13235 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13236 | |
| 13237 | /* during:[PWMOUT,JD_Out,JD_Error,SGWY_Out] = Motor_XHZY(JD_In,Encode_Pos,YJ_In,Encode_Sp,System_Order); */ |
| 13238 | } |
| 13239 | } |
| 13240 | |
| 13241 | /* End of Inport: '<Root>/Motor_Num' */ |
| 13242 | break; |
| 13243 | |
| 13244 | case motor_IN_HY: |
| 13245 | motor_HY(); |
| 13246 | break; |
| 13247 | |
| 13248 | case motor_IN_XHHY: |
| 13249 | motor_XHHY(); |
| 13250 | break; |
| 13251 | |
| 13252 | default: |
| 13253 | /* Inport: '<Root>/System_Order' */ |
| 13254 | /* During 'XHZY': '<S1>:172' */ |
| 13255 | if (motor_U.System_Order == 3) { |
| 13256 | /* Transition: '<S1>:559' */ |
| 13257 | /* Transition: '<S1>:557' */ |
| 13258 | motor_exit_internal_Normal_Mode(); |
| 13259 | motor_DWork.is_M_Run = motor_IN_Close; |
| 13260 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 13261 | motor_DWork.temporalCounter_i1 = 0U; |
| 13262 | |
| 13263 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 13264 | motor_Y.Open_Result = 4U; |
| 13265 | |
| 13266 | /* 正在关机 */ |
| 13267 | motor_Y.DCZD = false; |
| 13268 | |
| 13269 | /* 解除制动 */ |
| 13270 | motor_Y.Motor_En = false; |
| 13271 | |
| 13272 | /* 电机使能 */ |
| 13273 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13274 | motor_DWork.EN_extern = 0U; |
| 13275 | } else { |
| 13276 | switch (motor_DWork.is_XHZY) { |
| 13277 | case motor_IN_Sleeping_protect_1: |
| 13278 | /* During 'Sleeping_protect_1': '<S1>:235' */ |
| 13279 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 13280 | { |
| 13281 | /* Transition: '<S1>:575' */ |
| 13282 | motor_DWork.is_XHZY = motor_IN_Sleeping_protect_2; |
| 13283 | |
| 13284 | /* Entry 'Sleeping_protect_2': '<S1>:236' */ |
| 13285 | motor_Y.DCZD = true; |
| 13286 | |
| 13287 | /* 开电磁制动 */ |
| 13288 | } |
| 13289 | break; |
| 13290 | |
| 13291 | case motor_IN_Sleeping_protect_2: |
| 13292 | /* During 'Sleeping_protect_2': '<S1>:236' */ |
| 13293 | if (motor_U.System_Order == 5) { |
| 13294 | /* Transition: '<S1>:576' */ |
| 13295 | /* Exit 'Sleeping_protect_2': '<S1>:236' */ |
| 13296 | /* 关电磁制动 */ |
| 13297 | motor_Y.DCZD = false; |
| 13298 | motor_DWork.is_XHZY = motor_IN_Sleeping_protect_3; |
| 13299 | motor_DWork.temporalCounter_i1 = 0U; |
| 13300 | |
| 13301 | /* Entry 'Sleeping_protect_3': '<S1>:234' */ |
| 13302 | motor_Y.Motor_En = false; |
| 13303 | |
| 13304 | /* 开电机 */ |
| 13305 | } |
| 13306 | break; |
| 13307 | |
| 13308 | case motor_IN_Sleeping_protect_3: |
| 13309 | /* During 'Sleeping_protect_3': '<S1>:234' */ |
| 13310 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 13311 | { |
| 13312 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13313 | /* Transition: '<S1>:579' */ |
| 13314 | if (motor_U.Gyroscope_Choose == 0) { |
| 13315 | /* Transition: '<S1>:1196' */ |
| 13316 | motor_DWork.is_XHZY = motor_IN_XHZY_Run; |
| 13317 | motor_enter_atomic_XHZY_Run(); |
| 13318 | } else { |
| 13319 | if (motor_U.Gyroscope_Choose == 1) { |
| 13320 | /* Transition: '<S1>:1197' */ |
| 13321 | motor_DWork.is_XHZY = motor_IN_XHZY_Run1; |
| 13322 | motor_enter_atomic_XHZY_Run1(); |
| 13323 | } |
| 13324 | } |
| 13325 | } |
| 13326 | break; |
| 13327 | |
| 13328 | case motor_IN_XHZY_Error1: |
| 13329 | /* Inport: '<Root>/GXDY_State' */ |
| 13330 | /* During 'XHZY_Error1': '<S1>:1142' */ |
| 13331 | if (!motor_U.GXDY_State) { |
| 13332 | /* Transition: '<S1>:1143' */ |
| 13333 | motor_Y.Motor_En = false; |
| 13334 | motor_DWork.is_XHZY = motor_IN_XHZY_Wait; |
| 13335 | motor_DWork.temporalCounter_i1 = 0U; |
| 13336 | |
| 13337 | /* Entry 'XHZY_Wait': '<S1>:177' */ |
| 13338 | motor_DWork.In_State = 2U; |
| 13339 | motor_DWork.KG_En = 1U; |
| 13340 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13341 | |
| 13342 | /* during:[PWMOUT,JD_Out,JD_Error,SGWY_Out] = Motor_XHZY(JD_In,Encode_Pos,YJ_In,Encode_Sp,System_Order); */ |
| 13343 | } |
| 13344 | break; |
| 13345 | |
| 13346 | case motor_IN_XHZY_Run: |
| 13347 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13348 | /* During 'XHZY_Run': '<S1>:150' */ |
| 13349 | if (motor_U.System_Order == 4) { |
| 13350 | /* Transition: '<S1>:577' */ |
| 13351 | /* Exit 'XHZY_Run': '<S1>:150' */ |
| 13352 | motor_DWork.Runing_stable = 0U; |
| 13353 | motor_DWork.is_XHZY = motor_IN_Sleeping_protect_1; |
| 13354 | motor_DWork.temporalCounter_i1 = 0U; |
| 13355 | |
| 13356 | /* Entry 'Sleeping_protect_1': '<S1>:235' */ |
| 13357 | motor_Y.Motor_En = true; |
| 13358 | |
| 13359 | /* 关电机 */ |
| 13360 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13361 | } else if (motor_U.Gyroscope_Choose != 0) { |
| 13362 | /* Transition: '<S1>:1185' */ |
| 13363 | /* Transition: '<S1>:1191' */ |
| 13364 | /* Transition: '<S1>:557' */ |
| 13365 | motor_exit_internal_Normal_Mode(); |
| 13366 | motor_DWork.is_M_Run = motor_IN_Close; |
| 13367 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 13368 | motor_DWork.temporalCounter_i1 = 0U; |
| 13369 | |
| 13370 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 13371 | motor_Y.Open_Result = 4U; |
| 13372 | |
| 13373 | /* 正在关机 */ |
| 13374 | motor_Y.DCZD = false; |
| 13375 | |
| 13376 | /* 解除制动 */ |
| 13377 | motor_Y.Motor_En = false; |
| 13378 | |
| 13379 | /* 电机使能 */ |
| 13380 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13381 | motor_DWork.EN_extern = 0U; |
| 13382 | } else { |
| 13383 | /* Inport: '<Root>/JD_In' */ |
| 13384 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 13385 | motor_B.JD_In_d = motor_U.JD_In; |
| 13386 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 13387 | |
| 13388 | /* Inport: '<Root>/YJ_In' */ |
| 13389 | motor_B.YJ_In = motor_U.YJ_In; |
| 13390 | |
| 13391 | /* Inport: '<Root>/Encode_Sp' */ |
| 13392 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 13393 | motor_B.Slect_port_h = motor_U.System_Order; |
| 13394 | |
| 13395 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 13396 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 13397 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 13398 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 13399 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 13400 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 13401 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 13402 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 13403 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 13404 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 13405 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 13406 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 13407 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 13408 | &motor_DWork.chu_jd); |
| 13409 | |
| 13410 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 13411 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 13412 | if (tmp_1 < 65536.0) { |
| 13413 | if (tmp_1 >= 0.0) { |
| 13414 | tmp_0 = (uint16_T)tmp_1; |
| 13415 | } else { |
| 13416 | tmp_0 = 0U; |
| 13417 | } |
| 13418 | } else { |
| 13419 | tmp_0 = MAX_uint16_T; |
| 13420 | } |
| 13421 | |
| 13422 | motor_Y.PWMOUT = tmp_0; |
| 13423 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 13424 | if (tmp_1 < 2.147483648E+9) { |
| 13425 | if (tmp_1 >= -2.147483648E+9) { |
| 13426 | tmp = (int32_T)tmp_1; |
| 13427 | } else { |
| 13428 | tmp = MIN_int32_T; |
| 13429 | } |
| 13430 | } else { |
| 13431 | tmp = MAX_int32_T; |
| 13432 | } |
| 13433 | |
| 13434 | motor_Y.JD_Out = tmp; |
| 13435 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 13436 | if (tmp_1 < 2.147483648E+9) { |
| 13437 | if (tmp_1 >= -2.147483648E+9) { |
| 13438 | tmp = (int32_T)tmp_1; |
| 13439 | } else { |
| 13440 | tmp = MIN_int32_T; |
| 13441 | } |
| 13442 | } else { |
| 13443 | tmp = MAX_int32_T; |
| 13444 | } |
| 13445 | |
| 13446 | motor_Y.JD_Error = tmp; |
| 13447 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 13448 | } |
| 13449 | break; |
| 13450 | |
| 13451 | case motor_IN_XHZY_Run1: |
| 13452 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13453 | /* During 'XHZY_Run1': '<S1>:1182' */ |
| 13454 | if (motor_U.Gyroscope_Choose != 1) { |
| 13455 | /* Transition: '<S1>:1187' */ |
| 13456 | /* Transition: '<S1>:1191' */ |
| 13457 | /* Transition: '<S1>:557' */ |
| 13458 | motor_exit_internal_Normal_Mode(); |
| 13459 | motor_DWork.is_M_Run = motor_IN_Close; |
| 13460 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 13461 | motor_DWork.temporalCounter_i1 = 0U; |
| 13462 | |
| 13463 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 13464 | motor_Y.Open_Result = 4U; |
| 13465 | |
| 13466 | /* 正在关机 */ |
| 13467 | motor_Y.DCZD = false; |
| 13468 | |
| 13469 | /* 解除制动 */ |
| 13470 | motor_Y.Motor_En = false; |
| 13471 | |
| 13472 | /* 电机使能 */ |
| 13473 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13474 | motor_DWork.EN_extern = 0U; |
| 13475 | } else if (motor_U.System_Order == 4) { |
| 13476 | /* Transition: '<S1>:1194' */ |
| 13477 | /* Exit 'XHZY_Run1': '<S1>:1182' */ |
| 13478 | motor_DWork.Runing_stable = 0U; |
| 13479 | motor_DWork.is_XHZY = motor_IN_Sleeping_protect_1; |
| 13480 | motor_DWork.temporalCounter_i1 = 0U; |
| 13481 | |
| 13482 | /* Entry 'Sleeping_protect_1': '<S1>:235' */ |
| 13483 | motor_Y.Motor_En = true; |
| 13484 | |
| 13485 | /* 关电机 */ |
| 13486 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 13487 | } else { |
| 13488 | /* Inport: '<Root>/JD_In' */ |
| 13489 | /* Simulink Function 'Waveform_Build': '<S1>:1223' */ |
| 13490 | motor_B.JD_In_c = motor_U.JD_In; |
| 13491 | |
| 13492 | /* Outputs for Function Call SubSystem: '<S1>/Waveform_Build' */ |
| 13493 | motor_Waveform_Build(motor_M, motor_B.JD_In_c, &motor_B.Waveform_Build, |
| 13494 | &motor_DWork.Waveform_Build, |
| 13495 | (rtP_Waveform_Build_motor *) |
| 13496 | &motor_P.Waveform_Build, &motor_DWork.T, |
| 13497 | &motor_DWork.T_Count, &motor_DWork.Temp1, |
| 13498 | &motor_DWork.Temp2); |
| 13499 | |
| 13500 | /* End of Outputs for SubSystem: '<S1>/Waveform_Build' */ |
| 13501 | |
| 13502 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 13503 | motor_B.JD_In_d = motor_B.Waveform_Build.Gain2; |
| 13504 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 13505 | |
| 13506 | /* Inport: '<Root>/YJ_In' */ |
| 13507 | motor_B.YJ_In = motor_U.YJ_In; |
| 13508 | |
| 13509 | /* Inport: '<Root>/Encode_Sp' */ |
| 13510 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 13511 | motor_B.Slect_port_h = motor_U.System_Order; |
| 13512 | |
| 13513 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 13514 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 13515 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 13516 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 13517 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 13518 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 13519 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 13520 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 13521 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 13522 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 13523 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 13524 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 13525 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 13526 | &motor_DWork.chu_jd); |
| 13527 | |
| 13528 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 13529 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 13530 | if (tmp_1 < 65536.0) { |
| 13531 | if (tmp_1 >= 0.0) { |
| 13532 | tmp_0 = (uint16_T)tmp_1; |
| 13533 | } else { |
| 13534 | tmp_0 = 0U; |
| 13535 | } |
| 13536 | } else { |
| 13537 | tmp_0 = MAX_uint16_T; |
| 13538 | } |
| 13539 | |
| 13540 | motor_Y.PWMOUT = tmp_0; |
| 13541 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 13542 | if (tmp_1 < 2.147483648E+9) { |
| 13543 | if (tmp_1 >= -2.147483648E+9) { |
| 13544 | tmp = (int32_T)tmp_1; |
| 13545 | } else { |
| 13546 | tmp = MIN_int32_T; |
| 13547 | } |
| 13548 | } else { |
| 13549 | tmp = MAX_int32_T; |
| 13550 | } |
| 13551 | |
| 13552 | motor_Y.JD_Out = tmp; |
| 13553 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 13554 | if (tmp_1 < 2.147483648E+9) { |
| 13555 | if (tmp_1 >= -2.147483648E+9) { |
| 13556 | tmp = (int32_T)tmp_1; |
| 13557 | } else { |
| 13558 | tmp = MIN_int32_T; |
| 13559 | } |
| 13560 | } else { |
| 13561 | tmp = MAX_int32_T; |
| 13562 | } |
| 13563 | |
| 13564 | motor_Y.JD_Error = tmp; |
| 13565 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 13566 | } |
| 13567 | break; |
| 13568 | |
| 13569 | default: |
| 13570 | /* During 'XHZY_Wait': '<S1>:177' */ |
| 13571 | if (motor_DWork.temporalCounter_i1 >= 500U) { |
| 13572 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13573 | /* Transition: '<S1>:578' */ |
| 13574 | if (motor_U.Gyroscope_Choose == 0) { |
| 13575 | /* Inport: '<Root>/GXDY_State' */ |
| 13576 | /* Transition: '<S1>:1183' */ |
| 13577 | if (motor_U.GXDY_State) { |
| 13578 | /* Transition: '<S1>:985' */ |
| 13579 | motor_DWork.is_XHZY = motor_IN_XHZY_Error1; |
| 13580 | |
| 13581 | /* Entry 'XHZY_Error1': '<S1>:1142' */ |
| 13582 | motor_Y.Motor_En = true; |
| 13583 | |
| 13584 | /* 电机失能 */ |
| 13585 | motor_Y.Open_Result = 2U; |
| 13586 | } else { |
| 13587 | /* Transition: '<S1>:580' */ |
| 13588 | /* 惯性单元拉低 */ |
| 13589 | motor_DWork.is_XHZY = motor_IN_XHZY_Run; |
| 13590 | motor_enter_atomic_XHZY_Run(); |
| 13591 | } |
| 13592 | } else { |
| 13593 | guard1 = true; |
| 13594 | } |
| 13595 | } |
| 13596 | break; |
| 13597 | } |
| 13598 | } |
| 13599 | |
| 13600 | /* End of Inport: '<Root>/System_Order' */ |
| 13601 | break; |
| 13602 | } |
| 13603 | |
| 13604 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13605 | if (guard1 && (motor_U.Gyroscope_Choose == 1)) { |
| 13606 | /* Transition: '<S1>:1184' */ |
| 13607 | motor_DWork.is_XHZY = motor_IN_XHZY_Run1; |
| 13608 | motor_enter_atomic_XHZY_Run1(); |
| 13609 | } |
| 13610 | } |
| 13611 | |
| 13612 | /* Function for Chart: '<Root>/Chart' */ |
| 13613 | static void motor_RUN(void) |
| 13614 | { |
| 13615 | uint32_T JD_Vary; |
| 13616 | int32_T saturatedUnaryMinus; |
| 13617 | uint16_T tmp; |
| 13618 | real_T tmp_0; |
| 13619 | |
| 13620 | /* During 'RUN': '<S1>:23' */ |
| 13621 | /* During 'GXDY_COM_GZ': '<S1>:162' */ |
| 13622 | switch (motor_DWork.is_GXDY_COM_GZ) { |
| 13623 | case motor_IN_Defult: |
| 13624 | /* Inport: '<Root>/GXDY_State' */ |
| 13625 | /* During 'Defult': '<S1>:159' */ |
| 13626 | if ((motor_Y.Open_Result == 1) && (!motor_U.GXDY_State)) { |
| 13627 | /* Transition: '<S1>:546' */ |
| 13628 | /* 开机成功且惯性单元打开 */ |
| 13629 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p7; |
| 13630 | |
| 13631 | /* Entry 'p7': '<S1>:152' */ |
| 13632 | motor_DWork.GXDY_i = 0U; |
| 13633 | |
| 13634 | /* 计数器置零 */ |
| 13635 | motor_Y.Flag_GXDY_IT = 1U; |
| 13636 | |
| 13637 | /* 正常 */ |
| 13638 | } else { |
| 13639 | if ((motor_DWork.temporalCounter_i3 >= (uint32_T)(8.0 / motor_DWork.Ts)) && |
| 13640 | motor_U.GXDY_State) { |
| 13641 | /* Transition: '<S1>:547' */ |
| 13642 | /* Transition: '<S1>:1084' */ |
| 13643 | motor_DWork.is_GXDY_COM_GZ = motor_IN_r2; |
| 13644 | |
| 13645 | /* Entry 'r2': '<S1>:151' */ |
| 13646 | motor_Y.Flag_GXDY_IT = 0U; |
| 13647 | |
| 13648 | /* 故障 */ |
| 13649 | } |
| 13650 | } |
| 13651 | break; |
| 13652 | |
| 13653 | case motor_IN_Defult1: |
| 13654 | /* During 'Defult1': '<S1>:1258' */ |
| 13655 | break; |
| 13656 | |
| 13657 | case motor_IN_Defult2: |
| 13658 | /* During 'Defult2': '<S1>:1282' */ |
| 13659 | if (motor_DWork.temporalCounter_i3 >= (uint32_T)(3.0 / motor_DWork.Ts)) { |
| 13660 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13661 | /* Transition: '<S1>:1290' */ |
| 13662 | if (motor_U.Gyroscope_Choose == 0) { |
| 13663 | /* Transition: '<S1>:1256' */ |
| 13664 | motor_DWork.is_GXDY_COM_GZ = motor_IN_Defult; |
| 13665 | motor_DWork.temporalCounter_i3 = 0U; |
| 13666 | } else { |
| 13667 | if (motor_U.Gyroscope_Choose == 1) { |
| 13668 | /* Transition: '<S1>:1259' */ |
| 13669 | motor_DWork.is_GXDY_COM_GZ = motor_IN_Defult1; |
| 13670 | |
| 13671 | /* Entry 'Defult1': '<S1>:1258' */ |
| 13672 | motor_DWork.GXDY_i = 0U; |
| 13673 | } |
| 13674 | } |
| 13675 | } |
| 13676 | break; |
| 13677 | |
| 13678 | case motor_IN_p1_aq: |
| 13679 | /* During 'p1': '<S1>:1091' */ |
| 13680 | if (motor_DWork.temporalCounter_i3 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 13681 | /* Transition: '<S1>:1090' */ |
| 13682 | motor_DWork.is_GXDY_COM_GZ = motor_IN_r2; |
| 13683 | |
| 13684 | /* Entry 'r2': '<S1>:151' */ |
| 13685 | motor_Y.Flag_GXDY_IT = 0U; |
| 13686 | |
| 13687 | /* 故障 */ |
| 13688 | } else { |
| 13689 | if (!motor_U.GXDY_State) { |
| 13690 | /* Transition: '<S1>:1092' */ |
| 13691 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p7; |
| 13692 | |
| 13693 | /* Entry 'p7': '<S1>:152' */ |
| 13694 | motor_DWork.GXDY_i = 0U; |
| 13695 | |
| 13696 | /* 计数器置零 */ |
| 13697 | motor_Y.Flag_GXDY_IT = 1U; |
| 13698 | |
| 13699 | /* 正常 */ |
| 13700 | } |
| 13701 | } |
| 13702 | break; |
| 13703 | |
| 13704 | case motor_IN_p5: |
| 13705 | /* Inport: '<Root>/GXDY_IT_In' */ |
| 13706 | /* During 'p5': '<S1>:145' */ |
| 13707 | if (motor_U.GXDY_IT_In == 1) { |
| 13708 | /* Transition: '<S1>:549' */ |
| 13709 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p7; |
| 13710 | |
| 13711 | /* Entry 'p7': '<S1>:152' */ |
| 13712 | motor_DWork.GXDY_i = 0U; |
| 13713 | |
| 13714 | /* 计数器置零 */ |
| 13715 | motor_Y.Flag_GXDY_IT = 1U; |
| 13716 | |
| 13717 | /* 正常 */ |
| 13718 | } else { |
| 13719 | tmp_0 = 3.0 / motor_DWork.Ts; |
| 13720 | if (tmp_0 < 65536.0) { |
| 13721 | if (tmp_0 >= 0.0) { |
| 13722 | tmp = (uint16_T)tmp_0; |
| 13723 | } else { |
| 13724 | tmp = 0U; |
| 13725 | } |
| 13726 | } else { |
| 13727 | tmp = MAX_uint16_T; |
| 13728 | } |
| 13729 | |
| 13730 | if (motor_DWork.GXDY_i >= tmp) { |
| 13731 | /* Transition: '<S1>:550' */ |
| 13732 | /* 3S */ |
| 13733 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p6; |
| 13734 | |
| 13735 | /* Entry 'p6': '<S1>:153' */ |
| 13736 | /* 1代表正常,0代表错误 */ |
| 13737 | motor_Y.Flag_GXDY_IT = 0U; |
| 13738 | |
| 13739 | /* 故障 */ |
| 13740 | motor_Y.Motor_En = true; |
| 13741 | |
| 13742 | /* 电机失能 */ |
| 13743 | } else { |
| 13744 | saturatedUnaryMinus = motor_DWork.GXDY_i + 1; |
| 13745 | if (saturatedUnaryMinus > 65535) { |
| 13746 | saturatedUnaryMinus = 65535; |
| 13747 | } |
| 13748 | |
| 13749 | motor_DWork.GXDY_i = (uint16_T)saturatedUnaryMinus; |
| 13750 | } |
| 13751 | } |
| 13752 | break; |
| 13753 | |
| 13754 | case motor_IN_p6: |
| 13755 | /* Inport: '<Root>/GXDY_IT_In' */ |
| 13756 | /* During 'p6': '<S1>:153' */ |
| 13757 | if (motor_U.GXDY_IT_In == 1) { |
| 13758 | /* Transition: '<S1>:1087' */ |
| 13759 | motor_Y.Motor_En = false; |
| 13760 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p7; |
| 13761 | |
| 13762 | /* Entry 'p7': '<S1>:152' */ |
| 13763 | motor_DWork.GXDY_i = 0U; |
| 13764 | |
| 13765 | /* 计数器置零 */ |
| 13766 | motor_Y.Flag_GXDY_IT = 1U; |
| 13767 | |
| 13768 | /* 正常 */ |
| 13769 | } |
| 13770 | break; |
| 13771 | |
| 13772 | case motor_IN_p7: |
| 13773 | /* Inport: '<Root>/GXDY_State' incorporates: |
| 13774 | * Inport: '<Root>/GXDY_IT_In' |
| 13775 | */ |
| 13776 | /* During 'p7': '<S1>:152' */ |
| 13777 | if (motor_U.GXDY_State) { |
| 13778 | /* Transition: '<S1>:1088' */ |
| 13779 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p1_aq; |
| 13780 | motor_DWork.temporalCounter_i3 = 0U; |
| 13781 | } else { |
| 13782 | if (motor_U.GXDY_IT_In == 0) { |
| 13783 | /* Transition: '<S1>:548' */ |
| 13784 | motor_DWork.is_GXDY_COM_GZ = motor_IN_p5; |
| 13785 | |
| 13786 | /* Entry 'p5': '<S1>:145' */ |
| 13787 | motor_DWork.GXDY_i = 1U; |
| 13788 | } |
| 13789 | } |
| 13790 | break; |
| 13791 | |
| 13792 | default: |
| 13793 | /* Inport: '<Root>/GXDY_State' */ |
| 13794 | /* During 'r2': '<S1>:151' */ |
| 13795 | if (!motor_U.GXDY_State) { |
| 13796 | /* Transition: '<S1>:1080' */ |
| 13797 | motor_Y.Flag_GXDY_IT = 1U; |
| 13798 | motor_DWork.is_GXDY_COM_GZ = motor_IN_Defult; |
| 13799 | motor_DWork.temporalCounter_i3 = 0U; |
| 13800 | } |
| 13801 | break; |
| 13802 | } |
| 13803 | |
| 13804 | /* Inport: '<Root>/JD_In' incorporates: |
| 13805 | * Inport: '<Root>/GXDY_State' |
| 13806 | */ |
| 13807 | /* During 'GXDY_SJ_BJ': '<S1>:154' */ |
| 13808 | /* Simulink Function 'COM_Error': '<S1>:110' */ |
| 13809 | motor_B.In = motor_U.JD_In; |
| 13810 | |
| 13811 | /* Outputs for Function Call SubSystem: '<S1>/COM_Error' */ |
| 13812 | /* UnitDelay: '<S6>/Unit Delay' */ |
| 13813 | motor_B.UnitDelay = motor_DWork.UnitDelay_DSTATE; |
| 13814 | |
| 13815 | /* Sum: '<S6>/Add' */ |
| 13816 | motor_B.Add = motor_B.In - motor_B.UnitDelay; |
| 13817 | |
| 13818 | /* Abs: '<S6>/Abs' */ |
| 13819 | motor_B.Abs = fabs(motor_B.Add); |
| 13820 | |
| 13821 | /* Update for UnitDelay: '<S6>/Unit Delay' */ |
| 13822 | motor_DWork.UnitDelay_DSTATE = motor_B.In; |
| 13823 | |
| 13824 | /* End of Outputs for SubSystem: '<S1>/COM_Error' */ |
| 13825 | tmp_0 = motor_B.Abs; |
| 13826 | if (tmp_0 < 4.294967296E+9) { |
| 13827 | if (tmp_0 >= 0.0) { |
| 13828 | JD_Vary = (uint32_T)tmp_0; |
| 13829 | } else { |
| 13830 | JD_Vary = 0U; |
| 13831 | } |
| 13832 | } else { |
| 13833 | JD_Vary = MAX_uint32_T; |
| 13834 | } |
| 13835 | |
| 13836 | switch (motor_DWork.is_GXDY_SJ_BJ) { |
| 13837 | case motor_IN_Defult: |
| 13838 | /* Inport: '<Root>/GXDY_State' */ |
| 13839 | /* During 'Defult': '<S1>:155' */ |
| 13840 | if ((motor_Y.Open_Result == 1) && (!motor_U.GXDY_State)) { |
| 13841 | /* Transition: '<S1>:536' */ |
| 13842 | /* 开机成功且惯性单元打开 */ |
| 13843 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p1_aq; |
| 13844 | |
| 13845 | /* Entry 'p1': '<S1>:164' */ |
| 13846 | motor_DWork.can1_i = 0U; |
| 13847 | } |
| 13848 | break; |
| 13849 | |
| 13850 | case motor_IN_Defult1: |
| 13851 | /* During 'Defult1': '<S1>:1278' */ |
| 13852 | break; |
| 13853 | |
| 13854 | case motor_IN_Defult2: |
| 13855 | /* During 'Defult2': '<S1>:1283' */ |
| 13856 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(3.0 / motor_DWork.Ts)) { |
| 13857 | /* Inport: '<Root>/Gyroscope_Choose' */ |
| 13858 | /* Transition: '<S1>:1288' */ |
| 13859 | if (motor_U.Gyroscope_Choose == 0) { |
| 13860 | /* Transition: '<S1>:1280' */ |
| 13861 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_Defult; |
| 13862 | } else { |
| 13863 | if (motor_U.Gyroscope_Choose == 1) { |
| 13864 | /* Transition: '<S1>:1277' */ |
| 13865 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_Defult1; |
| 13866 | |
| 13867 | /* Entry 'Defult1': '<S1>:1278' */ |
| 13868 | motor_Y.Flag_GXDY_Error = 1U; |
| 13869 | } |
| 13870 | } |
| 13871 | } |
| 13872 | break; |
| 13873 | |
| 13874 | case motor_IN_p1_aq: |
| 13875 | /* Inport: '<Root>/JD_In' */ |
| 13876 | /* During 'p1': '<S1>:164' */ |
| 13877 | if (motor_U.JD_In < 0) { |
| 13878 | saturatedUnaryMinus = motor_U.JD_In; |
| 13879 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 13880 | saturatedUnaryMinus = MAX_int32_T; |
| 13881 | } else { |
| 13882 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 13883 | } |
| 13884 | } else { |
| 13885 | saturatedUnaryMinus = motor_U.JD_In; |
| 13886 | } |
| 13887 | |
| 13888 | if ((JD_Vary > motor_DWork.JD_Max) || (saturatedUnaryMinus > 60000)) { |
| 13889 | /* Transition: '<S1>:540' */ |
| 13890 | /* 速度大于最大值 */ |
| 13891 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p2_k; |
| 13892 | |
| 13893 | /* Entry 'p2': '<S1>:141' */ |
| 13894 | motor_DWork.can1_i = 1U; |
| 13895 | } else { |
| 13896 | /* 计数器置零 */ |
| 13897 | motor_Y.Flag_GXDY_Error = 1U; |
| 13898 | |
| 13899 | /* 惯性单元正常 */ |
| 13900 | } |
| 13901 | break; |
| 13902 | |
| 13903 | case motor_IN_p2_k: |
| 13904 | /* Inport: '<Root>/JD_In' */ |
| 13905 | /* Inport: '<Root>/GXDY_State' */ |
| 13906 | /* During 'p2': '<S1>:141' */ |
| 13907 | if (motor_U.JD_In < 0) { |
| 13908 | saturatedUnaryMinus = motor_U.JD_In; |
| 13909 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 13910 | saturatedUnaryMinus = MAX_int32_T; |
| 13911 | } else { |
| 13912 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 13913 | } |
| 13914 | } else { |
| 13915 | saturatedUnaryMinus = motor_U.JD_In; |
| 13916 | } |
| 13917 | |
| 13918 | if ((JD_Vary <= motor_DWork.JD_Max) && (saturatedUnaryMinus <= 60000)) { |
| 13919 | /* Transition: '<S1>:541' */ |
| 13920 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p1_aq; |
| 13921 | |
| 13922 | /* Entry 'p1': '<S1>:164' */ |
| 13923 | motor_DWork.can1_i = 0U; |
| 13924 | } else if (motor_DWork.can1_i >= 5.0 / motor_DWork.Ts) { |
| 13925 | /* Transition: '<S1>:542' */ |
| 13926 | /* 5S */ |
| 13927 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p3_e; |
| 13928 | |
| 13929 | /* Entry 'p3': '<S1>:148' */ |
| 13930 | /* 0代表正常,1代表错误 */ |
| 13931 | motor_DWork.can1_i = 0U; |
| 13932 | motor_Y.Motor_En = true; |
| 13933 | |
| 13934 | /* 电机失能 */ |
| 13935 | motor_Y.Flag_GXDY_Error = 0U; |
| 13936 | |
| 13937 | /* 惯性单元通讯故障 */ |
| 13938 | } else if (motor_U.GXDY_State) { |
| 13939 | /* Transition: '<S1>:1163' */ |
| 13940 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_Defult; |
| 13941 | } else { |
| 13942 | saturatedUnaryMinus = motor_DWork.can1_i + 1; |
| 13943 | if (saturatedUnaryMinus > 65535) { |
| 13944 | saturatedUnaryMinus = 65535; |
| 13945 | } |
| 13946 | |
| 13947 | motor_DWork.can1_i = (uint16_T)saturatedUnaryMinus; |
| 13948 | } |
| 13949 | break; |
| 13950 | |
| 13951 | case motor_IN_p3_e: |
| 13952 | /* Inport: '<Root>/JD_In' */ |
| 13953 | /* During 'p3': '<S1>:148' */ |
| 13954 | if (motor_U.JD_In < 0) { |
| 13955 | saturatedUnaryMinus = motor_U.JD_In; |
| 13956 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 13957 | saturatedUnaryMinus = MAX_int32_T; |
| 13958 | } else { |
| 13959 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 13960 | } |
| 13961 | } else { |
| 13962 | saturatedUnaryMinus = motor_U.JD_In; |
| 13963 | } |
| 13964 | |
| 13965 | if ((JD_Vary <= motor_DWork.JD_Max) && (saturatedUnaryMinus <= 60000)) { |
| 13966 | /* Transition: '<S1>:539' */ |
| 13967 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p4_n; |
| 13968 | |
| 13969 | /* Entry 'p4': '<S1>:144' */ |
| 13970 | motor_DWork.can1_i = 1U; |
| 13971 | } |
| 13972 | break; |
| 13973 | |
| 13974 | default: |
| 13975 | /* Inport: '<Root>/JD_In' */ |
| 13976 | /* Inport: '<Root>/GXDY_State' */ |
| 13977 | /* During 'p4': '<S1>:144' */ |
| 13978 | if (motor_U.JD_In < 0) { |
| 13979 | saturatedUnaryMinus = motor_U.JD_In; |
| 13980 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 13981 | saturatedUnaryMinus = MAX_int32_T; |
| 13982 | } else { |
| 13983 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 13984 | } |
| 13985 | } else { |
| 13986 | saturatedUnaryMinus = motor_U.JD_In; |
| 13987 | } |
| 13988 | |
| 13989 | if ((JD_Vary > motor_DWork.JD_Max) || (saturatedUnaryMinus > 60000)) { |
| 13990 | /* Transition: '<S1>:538' */ |
| 13991 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p3_e; |
| 13992 | |
| 13993 | /* Entry 'p3': '<S1>:148' */ |
| 13994 | /* 0代表正常,1代表错误 */ |
| 13995 | motor_DWork.can1_i = 0U; |
| 13996 | motor_Y.Motor_En = true; |
| 13997 | |
| 13998 | /* 电机失能 */ |
| 13999 | motor_Y.Flag_GXDY_Error = 0U; |
| 14000 | |
| 14001 | /* 惯性单元通讯故障 */ |
| 14002 | } else if (motor_DWork.can1_i >= 2.0 / motor_DWork.Ts) { |
| 14003 | /* Transition: '<S1>:537' */ |
| 14004 | motor_Y.Motor_En = false; |
| 14005 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_p1_aq; |
| 14006 | |
| 14007 | /* Entry 'p1': '<S1>:164' */ |
| 14008 | motor_DWork.can1_i = 0U; |
| 14009 | } else if (motor_U.GXDY_State) { |
| 14010 | /* Transition: '<S1>:1162' */ |
| 14011 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_Defult; |
| 14012 | } else { |
| 14013 | saturatedUnaryMinus = motor_DWork.can1_i + 1; |
| 14014 | if (saturatedUnaryMinus > 65535) { |
| 14015 | saturatedUnaryMinus = 65535; |
| 14016 | } |
| 14017 | |
| 14018 | motor_DWork.can1_i = (uint16_T)saturatedUnaryMinus; |
| 14019 | } |
| 14020 | break; |
| 14021 | } |
| 14022 | |
| 14023 | /* During 'Limit_Check': '<S1>:176' */ |
| 14024 | switch (motor_DWork.is_Limit_Check) { |
| 14025 | case motor_IN_defult_bq: |
| 14026 | /* During 'defult': '<S1>:161' */ |
| 14027 | if (motor_DWork.temporalCounter_i4 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 14028 | /* Transition: '<S1>:583' */ |
| 14029 | motor_DWork.is_Limit_Check = motor_IN_p1_aqc; |
| 14030 | |
| 14031 | /* Entry 'p1': '<S1>:171' */ |
| 14032 | motor_Y.Flag_Down_limit = 1U; |
| 14033 | motor_Y.Flag_Up_limit = 1U; |
| 14034 | |
| 14035 | /* Flag_Up_GZ_limit=1; |
| 14036 | Flag_Down_GZ_limit=1; */ |
| 14037 | } |
| 14038 | break; |
| 14039 | |
| 14040 | case motor_IN_p1_aqc: |
| 14041 | /* Inport: '<Root>/Up_Limit' incorporates: |
| 14042 | * Inport: '<Root>/Down_Limit' |
| 14043 | */ |
| 14044 | /* During 'p1': '<S1>:171' */ |
| 14045 | if (motor_U.Up_Limit == 0) { |
| 14046 | /* Transition: '<S1>:584' */ |
| 14047 | motor_DWork.is_Limit_Check = motor_IN_p2_kb; |
| 14048 | |
| 14049 | /* Entry 'p2': '<S1>:156' */ |
| 14050 | motor_Y.Flag_Up_limit = 0U; |
| 14051 | } else { |
| 14052 | if (motor_U.Down_Limit == 0) { |
| 14053 | /* Transition: '<S1>:586' */ |
| 14054 | motor_DWork.is_Limit_Check = motor_IN_p3_ex; |
| 14055 | |
| 14056 | /* Entry 'p3': '<S1>:160' */ |
| 14057 | motor_Y.Flag_Down_limit = 0U; |
| 14058 | } |
| 14059 | } |
| 14060 | break; |
| 14061 | |
| 14062 | case motor_IN_p2_kb: |
| 14063 | /* Inport: '<Root>/Up_Limit' */ |
| 14064 | /* During 'p2': '<S1>:156' */ |
| 14065 | if (motor_U.Up_Limit == 1) { |
| 14066 | /* Transition: '<S1>:585' */ |
| 14067 | motor_DWork.is_Limit_Check = motor_IN_p1_aqc; |
| 14068 | |
| 14069 | /* Entry 'p1': '<S1>:171' */ |
| 14070 | motor_Y.Flag_Down_limit = 1U; |
| 14071 | motor_Y.Flag_Up_limit = 1U; |
| 14072 | |
| 14073 | /* Flag_Up_GZ_limit=1; |
| 14074 | Flag_Down_GZ_limit=1; */ |
| 14075 | } |
| 14076 | break; |
| 14077 | |
| 14078 | default: |
| 14079 | /* Inport: '<Root>/Down_Limit' */ |
| 14080 | /* During 'p3': '<S1>:160' */ |
| 14081 | if (motor_U.Down_Limit == 1) { |
| 14082 | /* Transition: '<S1>:587' */ |
| 14083 | motor_DWork.is_Limit_Check = motor_IN_p1_aqc; |
| 14084 | |
| 14085 | /* Entry 'p1': '<S1>:171' */ |
| 14086 | motor_Y.Flag_Down_limit = 1U; |
| 14087 | motor_Y.Flag_Up_limit = 1U; |
| 14088 | |
| 14089 | /* Flag_Up_GZ_limit=1; |
| 14090 | Flag_Down_GZ_limit=1; */ |
| 14091 | } |
| 14092 | break; |
| 14093 | } |
| 14094 | |
| 14095 | motor_Algorithm_a(); |
| 14096 | if (motor_DWork.is_active_RUN != 0U) { |
| 14097 | /* During 'Error_Check': '<S1>:1294' */ |
| 14098 | if (motor_DWork.is_Error_Check == motor_IN_Error_Check) { |
| 14099 | /* During 'Error_Check': '<S1>:1306' */ |
| 14100 | if (motor_DWork.Runing_stable == 0) { |
| 14101 | /* Transition: '<S1>:1318' */ |
| 14102 | /* Exit Internal 'Error_Check': '<S1>:1306' */ |
| 14103 | motor_DWork.is_Error_Check_g = motor_IN_NO_ACTIVE_CHILD; |
| 14104 | motor_DWork.is_Error_Check = motor_IN_defult_bqy; |
| 14105 | |
| 14106 | /* Entry 'defult': '<S1>:1302' */ |
| 14107 | motor_Y.Flag_AngleError = 1U; |
| 14108 | } else { |
| 14109 | switch (motor_DWork.is_Error_Check_g) { |
| 14110 | case motor_IN_p1: |
| 14111 | /* During 'p1': '<S1>:1313' */ |
| 14112 | if (motor_Y.JD_Error > 250) { |
| 14113 | /* Transition: '<S1>:1311' */ |
| 14114 | motor_DWork.is_Error_Check_g = motor_IN_p3_exj; |
| 14115 | motor_DWork.temporalCounter_i9 = 0U; |
| 14116 | } |
| 14117 | break; |
| 14118 | |
| 14119 | case motor_IN_p3_exj: |
| 14120 | /* During 'p3': '<S1>:1316' */ |
| 14121 | if (motor_Y.JD_Error >= 250) { |
| 14122 | /* Transition: '<S1>:1312' */ |
| 14123 | motor_DWork.is_Error_Check_g = motor_IN_p1; |
| 14124 | |
| 14125 | /* Entry 'p1': '<S1>:1313' */ |
| 14126 | motor_Y.Flag_AngleError = 1U; |
| 14127 | } else { |
| 14128 | if (motor_DWork.temporalCounter_i9 >= (uint32_T)(2.0 / |
| 14129 | motor_DWork.Ts)) { |
| 14130 | /* Transition: '<S1>:1319' */ |
| 14131 | motor_DWork.is_Error_Check_g = motor_IN_p4_nvu; |
| 14132 | motor_DWork.temporalCounter_i9 = 0U; |
| 14133 | |
| 14134 | /* Entry 'p4': '<S1>:1317' */ |
| 14135 | motor_Y.Flag_AngleError = 0U; |
| 14136 | } |
| 14137 | } |
| 14138 | break; |
| 14139 | |
| 14140 | default: |
| 14141 | /* During 'p4': '<S1>:1317' */ |
| 14142 | if (motor_DWork.temporalCounter_i9 >= (uint32_T)(5.0 / motor_DWork.Ts)) |
| 14143 | { |
| 14144 | /* Transition: '<S1>:1321' */ |
| 14145 | motor_DWork.is_Error_Check_g = motor_IN_p3_exj; |
| 14146 | motor_DWork.temporalCounter_i9 = 0U; |
| 14147 | } |
| 14148 | break; |
| 14149 | } |
| 14150 | } |
| 14151 | } else { |
| 14152 | /* During 'defult': '<S1>:1302' */ |
| 14153 | if (motor_DWork.Runing_stable == 1) { |
| 14154 | /* Transition: '<S1>:1296' */ |
| 14155 | motor_DWork.is_Error_Check = motor_IN_Error_Check; |
| 14156 | |
| 14157 | /* Entry Internal 'Error_Check': '<S1>:1306' */ |
| 14158 | /* Transition: '<S1>:1307' */ |
| 14159 | motor_DWork.is_Error_Check_g = motor_IN_p1; |
| 14160 | |
| 14161 | /* Entry 'p1': '<S1>:1313' */ |
| 14162 | motor_Y.Flag_AngleError = 1U; |
| 14163 | } |
| 14164 | } |
| 14165 | } |
| 14166 | } |
| 14167 | |
| 14168 | /* Function for Chart: '<Root>/Chart' */ |
| 14169 | static void motor_Normal_Mode(void) |
| 14170 | { |
| 14171 | uint32_T q0; |
| 14172 | uint32_T qY; |
| 14173 | int32_T saturatedUnaryMinus; |
| 14174 | int32_T saturatedUnaryMinus_0; |
| 14175 | int32_T saturatedUnaryMinus_1; |
| 14176 | |
| 14177 | /* During 'Normal_Mode': '<S1>:13' */ |
| 14178 | switch (motor_DWork.is_Normal_Mode) { |
| 14179 | case motor_IN_defult1: |
| 14180 | /* During 'defult1': '<S1>:129' */ |
| 14181 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 14182 | /* Transition: '<S1>:411' */ |
| 14183 | motor_DWork.is_Normal_Mode = motor_IN_defult2; |
| 14184 | motor_DWork.temporalCounter_i1 = 0U; |
| 14185 | |
| 14186 | /* Entry 'defult2': '<S1>:951' */ |
| 14187 | motor_Y.Motor_En = false; |
| 14188 | } |
| 14189 | break; |
| 14190 | |
| 14191 | case motor_IN_defult2: |
| 14192 | /* During 'defult2': '<S1>:951' */ |
| 14193 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 14194 | /* Transition: '<S1>:952' */ |
| 14195 | motor_DWork.is_Normal_Mode = motor_IN_p1_a; |
| 14196 | |
| 14197 | /* Entry Internal 'p1': '<S1>:14' */ |
| 14198 | motor_DWork.is_active_RUN = 1U; |
| 14199 | |
| 14200 | /* Entry Internal 'RUN': '<S1>:23' */ |
| 14201 | /* Transition: '<S1>:421' */ |
| 14202 | motor_DWork.is_active_GXDY_COM_GZ = 1U; |
| 14203 | |
| 14204 | /* Entry Internal 'GXDY_COM_GZ': '<S1>:162' */ |
| 14205 | /* Transition: '<S1>:545' */ |
| 14206 | motor_DWork.is_GXDY_COM_GZ = motor_IN_Defult2; |
| 14207 | motor_DWork.temporalCounter_i3 = 0U; |
| 14208 | motor_DWork.is_active_GXDY_SJ_BJ = 1U; |
| 14209 | |
| 14210 | /* Entry Internal 'GXDY_SJ_BJ': '<S1>:154' */ |
| 14211 | /* Transition: '<S1>:535' */ |
| 14212 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_Defult2; |
| 14213 | motor_DWork.temporalCounter_i2 = 0U; |
| 14214 | motor_DWork.is_active_Limit_Check = 1U; |
| 14215 | |
| 14216 | /* Entry Internal 'Limit_Check': '<S1>:176' */ |
| 14217 | /* Transition: '<S1>:582' */ |
| 14218 | motor_DWork.is_Limit_Check = motor_IN_defult_bq; |
| 14219 | motor_DWork.temporalCounter_i4 = 0U; |
| 14220 | motor_DWork.is_active_Algorithm = 1U; |
| 14221 | |
| 14222 | /* Entry Internal 'Algorithm': '<S1>:165' */ |
| 14223 | /* Transition: '<S1>:551' */ |
| 14224 | motor_DWork.is_Algorithm_l = motor_IN_Defualt; |
| 14225 | |
| 14226 | /* Entry 'Defualt': '<S1>:147' */ |
| 14227 | motor_DWork.chu_jd = 0.0; |
| 14228 | motor_DWork.KG = 0U; |
| 14229 | motor_DWork.is_active_Error_Check = 1U; |
| 14230 | |
| 14231 | /* Entry Internal 'Error_Check': '<S1>:1294' */ |
| 14232 | /* Transition: '<S1>:1295' */ |
| 14233 | motor_DWork.is_Error_Check = motor_IN_defult_bqy; |
| 14234 | |
| 14235 | /* Entry 'defult': '<S1>:1302' */ |
| 14236 | motor_Y.Flag_AngleError = 1U; |
| 14237 | motor_DWork.is_active_Enc_GZ = 1U; |
| 14238 | |
| 14239 | /* Entry 'Enc_GZ': '<S1>:15' */ |
| 14240 | /* Entry Internal 'Enc_GZ': '<S1>:15' */ |
| 14241 | motor_DWork.is_active_Enc1 = 1U; |
| 14242 | |
| 14243 | /* Entry Internal 'Enc1': '<S1>:20' */ |
| 14244 | /* Transition: '<S1>:418' */ |
| 14245 | motor_DWork.is_Enc1 = motor_IN_p1; |
| 14246 | |
| 14247 | /* Entry 'p1': '<S1>:21' */ |
| 14248 | motor_Y.Flag_Enc_Error = 1U; |
| 14249 | motor_DWork.is_active_Enc2 = 1U; |
| 14250 | |
| 14251 | /* Entry Internal 'Enc2': '<S1>:16' */ |
| 14252 | /* Transition: '<S1>:413' */ |
| 14253 | motor_DWork.is_Enc2 = motor_IN_p2_kbn; |
| 14254 | motor_DWork.temporalCounter_i6 = 0U; |
| 14255 | |
| 14256 | /* Entry 'p2': '<S1>:17' */ |
| 14257 | motor_DWork.Enc_i = 0U; |
| 14258 | } |
| 14259 | break; |
| 14260 | |
| 14261 | default: |
| 14262 | /* During 'p1': '<S1>:14' */ |
| 14263 | motor_RUN(); |
| 14264 | if (motor_DWork.is_Normal_Mode == motor_IN_p1_a) { |
| 14265 | /* During 'Enc_GZ': '<S1>:15' */ |
| 14266 | /* During 'Enc1': '<S1>:20' */ |
| 14267 | if (motor_DWork.is_Enc1 == motor_IN_p1) { |
| 14268 | /* Inport: '<Root>/Encode_Sp' */ |
| 14269 | /* During 'p1': '<S1>:21' */ |
| 14270 | if (motor_U.Encode_Sp < 0) { |
| 14271 | saturatedUnaryMinus_0 = motor_U.Encode_Sp; |
| 14272 | if (saturatedUnaryMinus_0 <= MIN_int32_T) { |
| 14273 | saturatedUnaryMinus_1 = MAX_int32_T; |
| 14274 | } else { |
| 14275 | saturatedUnaryMinus_1 = -saturatedUnaryMinus_0; |
| 14276 | } |
| 14277 | |
| 14278 | saturatedUnaryMinus_0 = motor_U.Encode_Sp; |
| 14279 | if (saturatedUnaryMinus_0 <= MIN_int32_T) { |
| 14280 | saturatedUnaryMinus_0 = MAX_int32_T; |
| 14281 | } else { |
| 14282 | saturatedUnaryMinus_0 = -saturatedUnaryMinus_0; |
| 14283 | } |
| 14284 | } else { |
| 14285 | saturatedUnaryMinus_1 = motor_U.Encode_Sp; |
| 14286 | saturatedUnaryMinus_0 = motor_U.Encode_Sp; |
| 14287 | } |
| 14288 | |
| 14289 | saturatedUnaryMinus = motor_Y.JD_Out; |
| 14290 | if (saturatedUnaryMinus < 0) { |
| 14291 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 14292 | saturatedUnaryMinus = MAX_int32_T; |
| 14293 | } else { |
| 14294 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 14295 | } |
| 14296 | } |
| 14297 | |
| 14298 | if (((uint32_T)saturatedUnaryMinus_1 > motor_DWork.Encode_Sp_Max) || |
| 14299 | (((motor_Y.PWMOUT > 3500) || (motor_Y.PWMOUT < 1500)) && |
| 14300 | (!motor_Y.Motor_En) && ((uint32_T)saturatedUnaryMinus_0 <= |
| 14301 | motor_DWork.Encode_Sp_Min) && (saturatedUnaryMinus < 18500))) { |
| 14302 | /* Transition: '<S1>:419' */ |
| 14303 | motor_DWork.is_Enc1 = motor_IN_p4_nv; |
| 14304 | |
| 14305 | /* Entry 'p4': '<S1>:22' */ |
| 14306 | q0 = motor_DWork.Enc_i; |
| 14307 | qY = q0 + 1U; |
| 14308 | if (qY < q0) { |
| 14309 | qY = MAX_uint32_T; |
| 14310 | } |
| 14311 | |
| 14312 | motor_DWork.Enc_i = qY; |
| 14313 | } |
| 14314 | } else { |
| 14315 | /* Inport: '<Root>/Encode_Sp' */ |
| 14316 | /* During 'p4': '<S1>:22' */ |
| 14317 | if (motor_U.Encode_Sp < 0) { |
| 14318 | saturatedUnaryMinus_0 = motor_U.Encode_Sp; |
| 14319 | if (saturatedUnaryMinus_0 <= MIN_int32_T) { |
| 14320 | saturatedUnaryMinus_1 = MAX_int32_T; |
| 14321 | } else { |
| 14322 | saturatedUnaryMinus_1 = -saturatedUnaryMinus_0; |
| 14323 | } |
| 14324 | |
| 14325 | saturatedUnaryMinus_0 = motor_U.Encode_Sp; |
| 14326 | if (saturatedUnaryMinus_0 <= MIN_int32_T) { |
| 14327 | saturatedUnaryMinus_0 = MAX_int32_T; |
| 14328 | } else { |
| 14329 | saturatedUnaryMinus_0 = -saturatedUnaryMinus_0; |
| 14330 | } |
| 14331 | } else { |
| 14332 | saturatedUnaryMinus_1 = motor_U.Encode_Sp; |
| 14333 | saturatedUnaryMinus_0 = motor_U.Encode_Sp; |
| 14334 | } |
| 14335 | |
| 14336 | saturatedUnaryMinus = motor_Y.JD_Out; |
| 14337 | if (saturatedUnaryMinus < 0) { |
| 14338 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 14339 | saturatedUnaryMinus = MAX_int32_T; |
| 14340 | } else { |
| 14341 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 14342 | } |
| 14343 | } |
| 14344 | |
| 14345 | if (((uint32_T)saturatedUnaryMinus_1 <= motor_DWork.Encode_Sp_Max) && |
| 14346 | (((motor_Y.PWMOUT < 3500) && (motor_Y.PWMOUT > 1500)) || |
| 14347 | motor_Y.Motor_En || ((uint32_T)saturatedUnaryMinus_0 > |
| 14348 | motor_DWork.Encode_Sp_Min) || (saturatedUnaryMinus > 18500))) { |
| 14349 | /* Transition: '<S1>:420' */ |
| 14350 | motor_DWork.is_Enc1 = motor_IN_p1; |
| 14351 | |
| 14352 | /* Entry 'p1': '<S1>:21' */ |
| 14353 | motor_Y.Flag_Enc_Error = 1U; |
| 14354 | } else { |
| 14355 | q0 = motor_DWork.Enc_i; |
| 14356 | qY = q0 + 1U; |
| 14357 | if (qY < q0) { |
| 14358 | qY = MAX_uint32_T; |
| 14359 | } |
| 14360 | |
| 14361 | motor_DWork.Enc_i = qY; |
| 14362 | } |
| 14363 | } |
| 14364 | |
| 14365 | /* During 'Enc2': '<S1>:16' */ |
| 14366 | switch (motor_DWork.is_Enc2) { |
| 14367 | case motor_IN_p2_kbn: |
| 14368 | /* During 'p2': '<S1>:17' */ |
| 14369 | if ((uint32_T)(5.0 / motor_DWork.Ts) == motor_DWork.temporalCounter_i6) |
| 14370 | { |
| 14371 | /* Transition: '<S1>:415' */ |
| 14372 | /* 5秒钟 */ |
| 14373 | if (motor_DWork.Enc_i >= 100U) { |
| 14374 | /* Transition: '<S1>:417' */ |
| 14375 | motor_DWork.is_Enc2 = motor_IN_p3_exj; |
| 14376 | motor_DWork.temporalCounter_i5 = 0U; |
| 14377 | } else { |
| 14378 | if (motor_DWork.Enc_i < 100U) { |
| 14379 | /* Transition: '<S1>:416' */ |
| 14380 | motor_DWork.is_Enc2 = motor_IN_p5_m; |
| 14381 | |
| 14382 | /* Entry 'p5': '<S1>:18' */ |
| 14383 | motor_Y.Flag_Enc_Error = 1U; |
| 14384 | } |
| 14385 | } |
| 14386 | } |
| 14387 | break; |
| 14388 | |
| 14389 | case motor_IN_p3_exj: |
| 14390 | /* During 'p3': '<S1>:19' */ |
| 14391 | if (motor_DWork.temporalCounter_i5 >= (uint32_T)(20.0 / motor_DWork.Ts)) |
| 14392 | { |
| 14393 | /* Transition: '<S1>:1093' */ |
| 14394 | motor_DWork.is_Enc2 = motor_IN_p2_kbn; |
| 14395 | motor_DWork.temporalCounter_i6 = 0U; |
| 14396 | |
| 14397 | /* Entry 'p2': '<S1>:17' */ |
| 14398 | motor_DWork.Enc_i = 0U; |
| 14399 | } else { |
| 14400 | motor_Y.Flag_Enc_Error = 0U; |
| 14401 | |
| 14402 | /* Motor_En=1; */ |
| 14403 | } |
| 14404 | break; |
| 14405 | |
| 14406 | default: |
| 14407 | /* During 'p5': '<S1>:18' */ |
| 14408 | /* Transition: '<S1>:414' */ |
| 14409 | motor_DWork.is_Enc2 = motor_IN_p2_kbn; |
| 14410 | motor_DWork.temporalCounter_i6 = 0U; |
| 14411 | |
| 14412 | /* Entry 'p2': '<S1>:17' */ |
| 14413 | motor_DWork.Enc_i = 0U; |
| 14414 | break; |
| 14415 | } |
| 14416 | } |
| 14417 | break; |
| 14418 | } |
| 14419 | } |
| 14420 | |
| 14421 | /* Function for Chart: '<Root>/Chart' */ |
| 14422 | static void moto_exit_internal_Showing_Mode(void) |
| 14423 | { |
| 14424 | /* Exit Internal 'Showing_Mode': '<S1>:51' */ |
| 14425 | if (motor_DWork.is_Showing_Mode == motor_IN_RUN) { |
| 14426 | /* Exit Internal 'RUN': '<S1>:186' */ |
| 14427 | /* Exit Internal 'Limit_Check': '<S1>:200' */ |
| 14428 | motor_DWork.is_Limit_Check_j = motor_IN_NO_ACTIVE_CHILD; |
| 14429 | motor_DWork.is_active_Limit_Check_o = 0U; |
| 14430 | |
| 14431 | /* Exit Internal 'Algorithm': '<S1>:205' */ |
| 14432 | switch (motor_DWork.is_Algorithm_e) { |
| 14433 | case motor_IN_HY: |
| 14434 | /* Exit Internal 'HY': '<S1>:214' */ |
| 14435 | if (motor_DWork.is_HY_e == motor_IN_Sleeping_protect_2_m) { |
| 14436 | /* Exit 'Sleeping_protect_2': '<S1>:179' */ |
| 14437 | /* 关电磁制动 */ |
| 14438 | motor_Y.DCZD = false; |
| 14439 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 14440 | } else { |
| 14441 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 14442 | } |
| 14443 | |
| 14444 | motor_DWork.is_Algorithm_e = motor_IN_NO_ACTIVE_CHILD; |
| 14445 | break; |
| 14446 | |
| 14447 | case motor_IN_XHHY_m: |
| 14448 | /* Exit Internal 'XHHY': '<S1>:207' */ |
| 14449 | if (motor_DWork.is_XHHY_n == motor_IN_Sleeping_protect_2_m) { |
| 14450 | /* Exit 'Sleeping_protect_2': '<S1>:209' */ |
| 14451 | /* 关电磁制动 */ |
| 14452 | motor_Y.DCZD = false; |
| 14453 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 14454 | } else { |
| 14455 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 14456 | } |
| 14457 | |
| 14458 | motor_DWork.is_Algorithm_e = motor_IN_NO_ACTIVE_CHILD; |
| 14459 | break; |
| 14460 | |
| 14461 | case motor_IN_XHZY_p: |
| 14462 | /* Exit Internal 'XHZY': '<S1>:220' */ |
| 14463 | if (motor_DWork.is_XHZY_h == motor_IN_Sleeping_protect_2_m) { |
| 14464 | /* Exit 'Sleeping_protect_2': '<S1>:228' */ |
| 14465 | /* 关电磁制动 */ |
| 14466 | motor_Y.DCZD = false; |
| 14467 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 14468 | } else { |
| 14469 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 14470 | } |
| 14471 | |
| 14472 | motor_DWork.is_Algorithm_e = motor_IN_NO_ACTIVE_CHILD; |
| 14473 | break; |
| 14474 | |
| 14475 | default: |
| 14476 | motor_DWork.is_Algorithm_e = motor_IN_NO_ACTIVE_CHILD; |
| 14477 | |
| 14478 | /* Exit Internal 'Limit_Down_Test': '<S1>:315' */ |
| 14479 | /* Exit Internal 'HY': '<S1>:324' */ |
| 14480 | motor_DWork.is_HY_aj = motor_IN_NO_ACTIVE_CHILD; |
| 14481 | motor_DWork.is_Limit_Down_Test_i = motor_IN_NO_ACTIVE_CHILD; |
| 14482 | |
| 14483 | /* Exit Internal 'XHHY': '<S1>:332' */ |
| 14484 | motor_DWork.is_XHHY_fs = motor_IN_NO_ACTIVE_CHILD; |
| 14485 | |
| 14486 | /* Exit Internal 'XHZY': '<S1>:316' */ |
| 14487 | motor_DWork.is_XHZY_m = motor_IN_NO_ACTIVE_CHILD; |
| 14488 | |
| 14489 | /* Exit Internal 'Limit_Up_Test': '<S1>:340' */ |
| 14490 | /* Exit Internal 'HY': '<S1>:349' */ |
| 14491 | motor_DWork.is_HY_l = motor_IN_NO_ACTIVE_CHILD; |
| 14492 | motor_DWork.is_Limit_Up_Test_j = motor_IN_NO_ACTIVE_CHILD; |
| 14493 | |
| 14494 | /* Exit Internal 'XHHY': '<S1>:357' */ |
| 14495 | motor_DWork.is_XHHY_nb = motor_IN_NO_ACTIVE_CHILD; |
| 14496 | |
| 14497 | /* Exit Internal 'XHZY': '<S1>:341' */ |
| 14498 | motor_DWork.is_XHZY_d = motor_IN_NO_ACTIVE_CHILD; |
| 14499 | break; |
| 14500 | } |
| 14501 | |
| 14502 | motor_DWork.is_active_Algorithm_b = 0U; |
| 14503 | motor_DWork.is_Showing_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 14504 | } else { |
| 14505 | motor_DWork.is_Showing_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 14506 | } |
| 14507 | } |
| 14508 | |
| 14509 | /* Function for Chart: '<Root>/Chart' */ |
| 14510 | static void enter_internal_Limit_Down_Test(void) |
| 14511 | { |
| 14512 | /* Inport: '<Root>/Motor_Num' */ |
| 14513 | /* Entry Internal 'Limit_Down_Test': '<S1>:315' */ |
| 14514 | /* Transition: '<S1>:739' */ |
| 14515 | if (motor_U.Motor_Num == 1) { |
| 14516 | /* Transition: '<S1>:741' */ |
| 14517 | motor_DWork.is_Limit_Down_Test_i = motor_IN_XHZY_pv; |
| 14518 | |
| 14519 | /* Entry 'XHZY': '<S1>:316' */ |
| 14520 | /* 下滑纵摇电子下限位测试 */ |
| 14521 | /* Entry Internal 'XHZY': '<S1>:316' */ |
| 14522 | /* Transition: '<S1>:749' */ |
| 14523 | motor_DWork.is_XHZY_m = motor_IN_Int; |
| 14524 | motor_DWork.temporalCounter_i2 = 0U; |
| 14525 | |
| 14526 | /* Entry 'Int': '<S1>:317' */ |
| 14527 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 14528 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 14529 | |
| 14530 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14531 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 14532 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 14533 | |
| 14534 | /* Gain: '<S4>/GXZ6' */ |
| 14535 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 14536 | |
| 14537 | /* Gain: '<S4>/GXZ1' */ |
| 14538 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 14539 | |
| 14540 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14541 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 14542 | motor_Y.DCZD = false; |
| 14543 | |
| 14544 | /* 解除制动 */ |
| 14545 | motor_Y.Motor_En = false; |
| 14546 | |
| 14547 | /* 电机使能 */ |
| 14548 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14549 | motor_DWork.KG = 1U; |
| 14550 | motor_DWork.KG_JD = 0U; |
| 14551 | motor_DWork.KG_YJ = 0U; |
| 14552 | motor_DWork.KG_En = 1U; |
| 14553 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14554 | } else if (motor_U.Motor_Num == 3) { |
| 14555 | /* Transition: '<S1>:740' */ |
| 14556 | motor_DWork.is_Limit_Down_Test_i = motor_IN_XHHY_m1; |
| 14557 | |
| 14558 | /* Entry 'XHHY': '<S1>:332' */ |
| 14559 | /* 下滑横摇电子下限位测试 */ |
| 14560 | /* Entry Internal 'XHHY': '<S1>:332' */ |
| 14561 | /* Transition: '<S1>:765' */ |
| 14562 | motor_DWork.is_XHHY_fs = motor_IN_Int; |
| 14563 | motor_DWork.temporalCounter_i2 = 0U; |
| 14564 | |
| 14565 | /* Entry 'Int': '<S1>:333' */ |
| 14566 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 14567 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 14568 | |
| 14569 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14570 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 14571 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 14572 | |
| 14573 | /* Gain: '<S4>/GXZ6' */ |
| 14574 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 14575 | |
| 14576 | /* Gain: '<S4>/GXZ1' */ |
| 14577 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 14578 | |
| 14579 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14580 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 14581 | motor_Y.DCZD = false; |
| 14582 | |
| 14583 | /* 解除制动 */ |
| 14584 | motor_Y.Motor_En = false; |
| 14585 | |
| 14586 | /* 电机使能 */ |
| 14587 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14588 | motor_DWork.KG = 1U; |
| 14589 | motor_DWork.KG_JD = 0U; |
| 14590 | motor_DWork.KG_En = 1U; |
| 14591 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14592 | } else { |
| 14593 | if (motor_U.Motor_Num == 2) { |
| 14594 | /* Transition: '<S1>:742' */ |
| 14595 | motor_DWork.is_Limit_Down_Test_i = motor_IN_HY_f; |
| 14596 | |
| 14597 | /* Entry 'HY': '<S1>:324' */ |
| 14598 | /* 横摇灯杆电子下限位测试 */ |
| 14599 | /* Entry Internal 'HY': '<S1>:324' */ |
| 14600 | /* Transition: '<S1>:757' */ |
| 14601 | motor_DWork.is_HY_aj = motor_IN_Int; |
| 14602 | motor_DWork.temporalCounter_i2 = 0U; |
| 14603 | |
| 14604 | /* Entry 'Int': '<S1>:325' */ |
| 14605 | /* Simulink Function 'Angle_Calculation_HY': '<S1>:253' */ |
| 14606 | motor_B.Encode_Pos_dc = motor_Y.Encode_Pos; |
| 14607 | |
| 14608 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 14609 | motor_Angle_Calculation_HY(motor_B.Encode_Pos_dc, |
| 14610 | &motor_B.Angle_Calculation_HY, (rtP_Angle_Calculation_HY_motor *) |
| 14611 | &motor_P.Angle_Calculation_HY); |
| 14612 | |
| 14613 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 14614 | motor_DWork.chu_jd = motor_B.Angle_Calculation_HY.GHDG9; |
| 14615 | motor_Y.DCZD = false; |
| 14616 | |
| 14617 | /* 解除制动 */ |
| 14618 | motor_Y.Motor_En = false; |
| 14619 | |
| 14620 | /* 电机使能 */ |
| 14621 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14622 | motor_DWork.KG = 1U; |
| 14623 | motor_DWork.KG_JD = 0U; |
| 14624 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14625 | } |
| 14626 | } |
| 14627 | |
| 14628 | /* End of Inport: '<Root>/Motor_Num' */ |
| 14629 | } |
| 14630 | |
| 14631 | /* Function for Chart: '<Root>/Chart' */ |
| 14632 | static void mo_enter_internal_Limit_Up_Test(void) |
| 14633 | { |
| 14634 | /* Inport: '<Root>/Motor_Num' */ |
| 14635 | /* Entry Internal 'Limit_Up_Test': '<S1>:340' */ |
| 14636 | /* Transition: '<S1>:774' */ |
| 14637 | if (motor_U.Motor_Num == 1) { |
| 14638 | /* Transition: '<S1>:776' */ |
| 14639 | motor_DWork.is_Limit_Up_Test_j = motor_IN_XHZY_pv; |
| 14640 | |
| 14641 | /* Entry 'XHZY': '<S1>:341' */ |
| 14642 | /* 下滑纵摇电子上限位测试 */ |
| 14643 | /* Entry Internal 'XHZY': '<S1>:341' */ |
| 14644 | /* Transition: '<S1>:784' */ |
| 14645 | motor_DWork.is_XHZY_d = motor_IN_Int; |
| 14646 | motor_DWork.temporalCounter_i2 = 0U; |
| 14647 | |
| 14648 | /* Entry 'Int': '<S1>:342' */ |
| 14649 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 14650 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 14651 | |
| 14652 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14653 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 14654 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 14655 | |
| 14656 | /* Gain: '<S4>/GXZ6' */ |
| 14657 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 14658 | |
| 14659 | /* Gain: '<S4>/GXZ1' */ |
| 14660 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 14661 | |
| 14662 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14663 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 14664 | motor_Y.DCZD = false; |
| 14665 | |
| 14666 | /* 解除制动 */ |
| 14667 | motor_Y.Motor_En = false; |
| 14668 | |
| 14669 | /* 电机使能 */ |
| 14670 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14671 | motor_DWork.KG = 1U; |
| 14672 | motor_DWork.KG_JD = 0U; |
| 14673 | motor_DWork.KG_YJ = 0U; |
| 14674 | motor_DWork.KG_En = 1U; |
| 14675 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14676 | } else if (motor_U.Motor_Num == 3) { |
| 14677 | /* Transition: '<S1>:775' */ |
| 14678 | motor_DWork.is_Limit_Up_Test_j = motor_IN_XHHY_m1; |
| 14679 | |
| 14680 | /* Entry 'XHHY': '<S1>:357' */ |
| 14681 | /* 下滑横摇电子上限位测试 */ |
| 14682 | /* Entry Internal 'XHHY': '<S1>:357' */ |
| 14683 | /* Transition: '<S1>:800' */ |
| 14684 | motor_DWork.is_XHHY_nb = motor_IN_Int; |
| 14685 | motor_DWork.temporalCounter_i2 = 0U; |
| 14686 | |
| 14687 | /* Entry 'Int': '<S1>:358' */ |
| 14688 | /* Simulink Function 'Angle_Calculation_XH': '<S1>:250' */ |
| 14689 | motor_B.Encode_Pos_d = motor_Y.Encode_Pos; |
| 14690 | |
| 14691 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14692 | /* DataTypeConversion: '<S4>/Data Type Conversion2' */ |
| 14693 | motor_B.DataTypeConversion2 = motor_B.Encode_Pos_d; |
| 14694 | |
| 14695 | /* Gain: '<S4>/GXZ6' */ |
| 14696 | motor_B.GXZ6 = motor_P.GXZ6_Gain * motor_B.DataTypeConversion2; |
| 14697 | |
| 14698 | /* Gain: '<S4>/GXZ1' */ |
| 14699 | motor_B.GXZ1 = motor_P.GXZ1_Gain * motor_B.GXZ6; |
| 14700 | |
| 14701 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_XH' */ |
| 14702 | motor_DWork.chu_jd = motor_B.GXZ1; |
| 14703 | motor_Y.DCZD = false; |
| 14704 | |
| 14705 | /* 解除制动 */ |
| 14706 | motor_Y.Motor_En = false; |
| 14707 | |
| 14708 | /* 电机使能 */ |
| 14709 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14710 | motor_DWork.KG = 1U; |
| 14711 | motor_DWork.KG_JD = 0U; |
| 14712 | motor_DWork.KG_En = 1U; |
| 14713 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14714 | } else { |
| 14715 | if (motor_U.Motor_Num == 2) { |
| 14716 | /* Transition: '<S1>:777' */ |
| 14717 | motor_DWork.is_Limit_Up_Test_j = motor_IN_HY_f; |
| 14718 | |
| 14719 | /* Entry 'HY': '<S1>:349' */ |
| 14720 | /* 调试模式 */ |
| 14721 | /* Entry Internal 'HY': '<S1>:349' */ |
| 14722 | /* Transition: '<S1>:792' */ |
| 14723 | motor_DWork.is_HY_l = motor_IN_Int; |
| 14724 | motor_DWork.temporalCounter_i2 = 0U; |
| 14725 | |
| 14726 | /* Entry 'Int': '<S1>:350' */ |
| 14727 | /* Simulink Function 'Angle_Calculation_HY': '<S1>:253' */ |
| 14728 | motor_B.Encode_Pos_dc = motor_Y.Encode_Pos; |
| 14729 | |
| 14730 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 14731 | motor_Angle_Calculation_HY(motor_B.Encode_Pos_dc, |
| 14732 | &motor_B.Angle_Calculation_HY, (rtP_Angle_Calculation_HY_motor *) |
| 14733 | &motor_P.Angle_Calculation_HY); |
| 14734 | |
| 14735 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 14736 | motor_DWork.chu_jd = motor_B.Angle_Calculation_HY.GHDG9; |
| 14737 | motor_Y.DCZD = false; |
| 14738 | |
| 14739 | /* 解除制动 */ |
| 14740 | motor_Y.Motor_En = false; |
| 14741 | |
| 14742 | /* 电机使能 */ |
| 14743 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14744 | motor_DWork.KG = 1U; |
| 14745 | motor_DWork.KG_JD = 0U; |
| 14746 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14747 | } |
| 14748 | } |
| 14749 | |
| 14750 | /* End of Inport: '<Root>/Motor_Num' */ |
| 14751 | } |
| 14752 | |
| 14753 | /* Function for Chart: '<Root>/Chart' */ |
| 14754 | static void motor_XHZY(void) |
| 14755 | { |
| 14756 | uint16_T tmp; |
| 14757 | real_T tmp_0; |
| 14758 | int32_T saturatedUnaryMinus; |
| 14759 | |
| 14760 | /* Inport: '<Root>/Test_Mode' */ |
| 14761 | /* During 'XHZY': '<S1>:220' */ |
| 14762 | if (motor_U.Test_Mode == 2) { |
| 14763 | /* Transition: '<S1>:629' */ |
| 14764 | /* Transition: '<S1>:631' */ |
| 14765 | motor_DWork.XiaoDaShen = 1.0; |
| 14766 | |
| 14767 | /* Exit Internal 'XHZY': '<S1>:220' */ |
| 14768 | if (motor_DWork.is_XHZY_h == motor_IN_Sleeping_protect_2_m) { |
| 14769 | /* Exit 'Sleeping_protect_2': '<S1>:228' */ |
| 14770 | /* 关电磁制动 */ |
| 14771 | motor_Y.DCZD = false; |
| 14772 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 14773 | } else { |
| 14774 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 14775 | } |
| 14776 | |
| 14777 | motor_DWork.is_Algorithm_e = motor_IN_Limit_Up_Test_k; |
| 14778 | |
| 14779 | /* Entry 'Limit_Up_Test': '<S1>:340' */ |
| 14780 | /* 测试电子上限位 */ |
| 14781 | mo_enter_internal_Limit_Up_Test(); |
| 14782 | } else if (motor_U.Test_Mode == 3) { |
| 14783 | /* Transition: '<S1>:630' */ |
| 14784 | /* Transition: '<S1>:634' */ |
| 14785 | motor_DWork.XiaoDaShen = 1.0; |
| 14786 | |
| 14787 | /* Exit Internal 'XHZY': '<S1>:220' */ |
| 14788 | if (motor_DWork.is_XHZY_h == motor_IN_Sleeping_protect_2_m) { |
| 14789 | /* Exit 'Sleeping_protect_2': '<S1>:228' */ |
| 14790 | /* 关电磁制动 */ |
| 14791 | motor_Y.DCZD = false; |
| 14792 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 14793 | } else { |
| 14794 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 14795 | } |
| 14796 | |
| 14797 | motor_DWork.is_Algorithm_e = motor_IN_Limit_Down_Test_f; |
| 14798 | |
| 14799 | /* Entry 'Limit_Down_Test': '<S1>:315' */ |
| 14800 | /* 电子下限位检测 */ |
| 14801 | enter_internal_Limit_Down_Test(); |
| 14802 | } else { |
| 14803 | switch (motor_DWork.is_XHZY_h) { |
| 14804 | case motor_IN_Defualt: |
| 14805 | /* During 'Defualt': '<S1>:221' */ |
| 14806 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(15.0 / motor_DWork.Ts)) { |
| 14807 | /* Transition: '<S1>:656' */ |
| 14808 | /* 等待15s */ |
| 14809 | motor_DWork.is_XHZY_h = motor_IN_XHZY_Error_fb; |
| 14810 | |
| 14811 | /* Entry 'XHZY_Error': '<S1>:222' */ |
| 14812 | motor_Y.Motor_En = true; |
| 14813 | |
| 14814 | /* 电机失能 */ |
| 14815 | motor_Y.Open_Result = 2U; |
| 14816 | } else { |
| 14817 | saturatedUnaryMinus = motor_Y.Encode_Pos; |
| 14818 | if (saturatedUnaryMinus < 0) { |
| 14819 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 14820 | saturatedUnaryMinus = MAX_int32_T; |
| 14821 | } else { |
| 14822 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 14823 | } |
| 14824 | } |
| 14825 | |
| 14826 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Pos_Zero) { |
| 14827 | /* Transition: '<S1>:655' */ |
| 14828 | motor_DWork.is_XHZY_h = motor_IN_XHZY_Wait_l; |
| 14829 | motor_DWork.temporalCounter_i2 = 0U; |
| 14830 | |
| 14831 | /* Entry 'XHZY_Wait': '<S1>:224' */ |
| 14832 | motor_Y.Open_Result = 1U; |
| 14833 | |
| 14834 | /* 开机状态位成功 */ |
| 14835 | motor_DWork.In_State = 2U; |
| 14836 | motor_DWork.KG_En = 1U; |
| 14837 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14838 | } else { |
| 14839 | /* Inport: '<Root>/JD_In' */ |
| 14840 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 14841 | motor_B.JD_In_d = motor_U.JD_In; |
| 14842 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 14843 | |
| 14844 | /* Inport: '<Root>/YJ_In' */ |
| 14845 | motor_B.YJ_In = motor_U.YJ_In; |
| 14846 | |
| 14847 | /* Inport: '<Root>/Encode_Sp' */ |
| 14848 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 14849 | |
| 14850 | /* Inport: '<Root>/System_Order' */ |
| 14851 | motor_B.Slect_port_h = motor_U.System_Order; |
| 14852 | |
| 14853 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 14854 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 14855 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 14856 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 14857 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 14858 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 14859 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 14860 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 14861 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 14862 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 14863 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 14864 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 14865 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 14866 | &motor_DWork.chu_jd); |
| 14867 | |
| 14868 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 14869 | tmp_0 = motor_B.Motor_XHZY.ZXF_PWM; |
| 14870 | if (tmp_0 < 65536.0) { |
| 14871 | if (tmp_0 >= 0.0) { |
| 14872 | tmp = (uint16_T)tmp_0; |
| 14873 | } else { |
| 14874 | tmp = 0U; |
| 14875 | } |
| 14876 | } else { |
| 14877 | tmp = MAX_uint16_T; |
| 14878 | } |
| 14879 | |
| 14880 | motor_Y.PWMOUT = tmp; |
| 14881 | tmp_0 = motor_B.Motor_XHZY.KP_JD; |
| 14882 | if (tmp_0 < 2.147483648E+9) { |
| 14883 | if (tmp_0 >= -2.147483648E+9) { |
| 14884 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 14885 | } else { |
| 14886 | saturatedUnaryMinus = MIN_int32_T; |
| 14887 | } |
| 14888 | } else { |
| 14889 | saturatedUnaryMinus = MAX_int32_T; |
| 14890 | } |
| 14891 | |
| 14892 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 14893 | tmp_0 = motor_B.Motor_XHZY.KP_e; |
| 14894 | if (tmp_0 < 2.147483648E+9) { |
| 14895 | if (tmp_0 >= -2.147483648E+9) { |
| 14896 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 14897 | } else { |
| 14898 | saturatedUnaryMinus = MIN_int32_T; |
| 14899 | } |
| 14900 | } else { |
| 14901 | saturatedUnaryMinus = MAX_int32_T; |
| 14902 | } |
| 14903 | |
| 14904 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 14905 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 14906 | } |
| 14907 | } |
| 14908 | break; |
| 14909 | |
| 14910 | case motor_IN_Sleeping_protect_1_h: |
| 14911 | /* During 'Sleeping_protect_1': '<S1>:227' */ |
| 14912 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 14913 | /* Transition: '<S1>:657' */ |
| 14914 | motor_DWork.is_XHZY_h = motor_IN_Sleeping_protect_2_m; |
| 14915 | |
| 14916 | /* Entry 'Sleeping_protect_2': '<S1>:228' */ |
| 14917 | motor_Y.DCZD = true; |
| 14918 | |
| 14919 | /* 开电磁制动 */ |
| 14920 | } |
| 14921 | break; |
| 14922 | |
| 14923 | case motor_IN_Sleeping_protect_2_m: |
| 14924 | /* Inport: '<Root>/System_Order' */ |
| 14925 | /* During 'Sleeping_protect_2': '<S1>:228' */ |
| 14926 | if (motor_U.System_Order == 5) { |
| 14927 | /* Transition: '<S1>:658' */ |
| 14928 | /* Exit 'Sleeping_protect_2': '<S1>:228' */ |
| 14929 | /* 关电磁制动 */ |
| 14930 | motor_Y.DCZD = false; |
| 14931 | motor_DWork.is_XHZY_h = motor_IN_Sleeping_protect_3_f; |
| 14932 | motor_DWork.temporalCounter_i2 = 0U; |
| 14933 | |
| 14934 | /* Entry 'Sleeping_protect_3': '<S1>:216' */ |
| 14935 | motor_Y.Motor_En = false; |
| 14936 | |
| 14937 | /* 开电机 */ |
| 14938 | } |
| 14939 | break; |
| 14940 | |
| 14941 | case motor_IN_Sleeping_protect_3_f: |
| 14942 | /* During 'Sleeping_protect_3': '<S1>:216' */ |
| 14943 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 14944 | /* Transition: '<S1>:661' */ |
| 14945 | motor_DWork.is_XHZY_h = motor_IN_XHZY_Run_i; |
| 14946 | |
| 14947 | /* Entry 'XHZY_Run': '<S1>:225' */ |
| 14948 | motor_DWork.KG_En = 1U; |
| 14949 | motor_DWork.KG_JD = 0U; |
| 14950 | motor_DWork.KG_YJ = 1U; |
| 14951 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 14952 | |
| 14953 | /* Inport: '<Root>/Showing_Angle' */ |
| 14954 | /* KG_YJ=uint8(1);%接入外部接口 */ |
| 14955 | motor_DWork.Showing_Angle_Last = motor_U.Showing_Angle; |
| 14956 | |
| 14957 | /* Inport: '<Root>/Showing_T' */ |
| 14958 | motor_DWork.Showing_T_Last = motor_U.Showing_T; |
| 14959 | } |
| 14960 | break; |
| 14961 | |
| 14962 | case motor_IN_XHZY_Error_fb: |
| 14963 | /* During 'XHZY_Error': '<S1>:222' */ |
| 14964 | break; |
| 14965 | |
| 14966 | case motor_IN_XHZY_Run_i: |
| 14967 | /* Inport: '<Root>/System_Order' incorporates: |
| 14968 | * Inport: '<Root>/Showing_Angle' |
| 14969 | * Inport: '<Root>/Showing_T' |
| 14970 | */ |
| 14971 | /* During 'XHZY_Run': '<S1>:225' */ |
| 14972 | if (motor_U.System_Order == 4) { |
| 14973 | /* Transition: '<S1>:659' */ |
| 14974 | motor_DWork.is_XHZY_h = motor_IN_Sleeping_protect_1_h; |
| 14975 | motor_DWork.temporalCounter_i2 = 0U; |
| 14976 | |
| 14977 | /* Entry 'Sleeping_protect_1': '<S1>:227' */ |
| 14978 | motor_Y.Motor_En = true; |
| 14979 | |
| 14980 | /* 关电机 */ |
| 14981 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 14982 | } else if (motor_U.System_Order == 3) { |
| 14983 | /* Transition: '<S1>:662' */ |
| 14984 | /* Transition: '<S1>:625' */ |
| 14985 | moto_exit_internal_Showing_Mode(); |
| 14986 | motor_DWork.is_M_Run = motor_IN_Close; |
| 14987 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 14988 | motor_DWork.temporalCounter_i1 = 0U; |
| 14989 | |
| 14990 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 14991 | motor_Y.Open_Result = 4U; |
| 14992 | |
| 14993 | /* 正在关机 */ |
| 14994 | motor_Y.DCZD = false; |
| 14995 | |
| 14996 | /* 解除制动 */ |
| 14997 | motor_Y.Motor_En = false; |
| 14998 | |
| 14999 | /* 电机使能 */ |
| 15000 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 15001 | motor_DWork.EN_extern = 0U; |
| 15002 | } else if ((motor_DWork.Showing_Angle_Last != motor_U.Showing_Angle) || |
| 15003 | (motor_DWork.Showing_T_Last != motor_U.Showing_T)) { |
| 15004 | /* Transition: '<S1>:950' */ |
| 15005 | motor_DWork.is_XHZY_h = motor_IN_Defualt; |
| 15006 | motor_DWork.temporalCounter_i2 = 0U; |
| 15007 | |
| 15008 | /* Entry 'Defualt': '<S1>:221' */ |
| 15009 | /* en:KG_En=uint8(0);KG_JD=uint8(1);KG_YJ=uint8(1); */ |
| 15010 | motor_DWork.KG_En = 1U; |
| 15011 | motor_DWork.KG_JD = 0U; |
| 15012 | motor_DWork.KG_YJ = 0U; |
| 15013 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 15014 | motor_DWork.chu_jd = 0.0; |
| 15015 | } else { |
| 15016 | /* Inport: '<Root>/Showing_Angle' */ |
| 15017 | /* Simulink Function 'Showing': '<S1>:180' */ |
| 15018 | motor_B.Showing_Angle = motor_U.Showing_Angle; |
| 15019 | |
| 15020 | /* Inport: '<Root>/Showing_T' */ |
| 15021 | motor_B.Showing_T = motor_U.Showing_T; |
| 15022 | |
| 15023 | /* Outputs for Function Call SubSystem: '<S1>/Showing' */ |
| 15024 | motor_Showing(motor_M, motor_B.Showing_Angle, motor_B.Showing_T, |
| 15025 | &motor_B.Showing, (rtP_Showing_motor *)&motor_P.Showing, |
| 15026 | &motor_DWork.Angle_S); |
| 15027 | |
| 15028 | /* End of Outputs for SubSystem: '<S1>/Showing' */ |
| 15029 | motor_DWork.chu_jd = motor_B.Showing.DataTypeConversion1; |
| 15030 | |
| 15031 | /* Inport: '<Root>/JD_In' */ |
| 15032 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15033 | motor_B.JD_In_d = motor_U.JD_In; |
| 15034 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15035 | |
| 15036 | /* Inport: '<Root>/YJ_In' */ |
| 15037 | motor_B.YJ_In = motor_U.YJ_In; |
| 15038 | |
| 15039 | /* Inport: '<Root>/Encode_Sp' */ |
| 15040 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15041 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15042 | |
| 15043 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15044 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15045 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 15046 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 15047 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 15048 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 15049 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 15050 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 15051 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 15052 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 15053 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 15054 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15055 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15056 | &motor_DWork.chu_jd); |
| 15057 | |
| 15058 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15059 | tmp_0 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15060 | if (tmp_0 < 65536.0) { |
| 15061 | if (tmp_0 >= 0.0) { |
| 15062 | tmp = (uint16_T)tmp_0; |
| 15063 | } else { |
| 15064 | tmp = 0U; |
| 15065 | } |
| 15066 | } else { |
| 15067 | tmp = MAX_uint16_T; |
| 15068 | } |
| 15069 | |
| 15070 | motor_Y.PWMOUT = tmp; |
| 15071 | tmp_0 = motor_B.Motor_XHZY.KP_JD; |
| 15072 | if (tmp_0 < 2.147483648E+9) { |
| 15073 | if (tmp_0 >= -2.147483648E+9) { |
| 15074 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 15075 | } else { |
| 15076 | saturatedUnaryMinus = MIN_int32_T; |
| 15077 | } |
| 15078 | } else { |
| 15079 | saturatedUnaryMinus = MAX_int32_T; |
| 15080 | } |
| 15081 | |
| 15082 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 15083 | tmp_0 = motor_B.Motor_XHZY.KP_e; |
| 15084 | if (tmp_0 < 2.147483648E+9) { |
| 15085 | if (tmp_0 >= -2.147483648E+9) { |
| 15086 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 15087 | } else { |
| 15088 | saturatedUnaryMinus = MIN_int32_T; |
| 15089 | } |
| 15090 | } else { |
| 15091 | saturatedUnaryMinus = MAX_int32_T; |
| 15092 | } |
| 15093 | |
| 15094 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 15095 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15096 | } |
| 15097 | break; |
| 15098 | |
| 15099 | case motor_IN_XHZY_Run1_a: |
| 15100 | /* Inport: '<Root>/Showing_Angle' */ |
| 15101 | /* During 'XHZY_Run1': '<S1>:944' */ |
| 15102 | if (motor_DWork.Showing_Angle0 >= motor_U.Showing_Angle) { |
| 15103 | /* Transition: '<S1>:949' */ |
| 15104 | motor_DWork.is_XHZY_h = motor_IN_XHZY_Run_i; |
| 15105 | |
| 15106 | /* Entry 'XHZY_Run': '<S1>:225' */ |
| 15107 | motor_DWork.KG_En = 1U; |
| 15108 | motor_DWork.KG_JD = 0U; |
| 15109 | motor_DWork.KG_YJ = 1U; |
| 15110 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 15111 | |
| 15112 | /* KG_YJ=uint8(1);%接入外部接口 */ |
| 15113 | motor_DWork.Showing_Angle_Last = motor_U.Showing_Angle; |
| 15114 | |
| 15115 | /* Inport: '<Root>/Showing_T' */ |
| 15116 | motor_DWork.Showing_T_Last = motor_U.Showing_T; |
| 15117 | } else { |
| 15118 | motor_DWork.Showing_Angle0 += 0.01; |
| 15119 | |
| 15120 | /* Simulink Function 'Showing': '<S1>:180' */ |
| 15121 | motor_B.Showing_Angle = motor_DWork.Showing_Angle0; |
| 15122 | |
| 15123 | /* Inport: '<Root>/Showing_T' */ |
| 15124 | motor_B.Showing_T = motor_U.Showing_T; |
| 15125 | |
| 15126 | /* Outputs for Function Call SubSystem: '<S1>/Showing' */ |
| 15127 | motor_Showing(motor_M, motor_B.Showing_Angle, motor_B.Showing_T, |
| 15128 | &motor_B.Showing, (rtP_Showing_motor *)&motor_P.Showing, |
| 15129 | &motor_DWork.Angle_S); |
| 15130 | |
| 15131 | /* End of Outputs for SubSystem: '<S1>/Showing' */ |
| 15132 | motor_DWork.chu_jd = motor_B.Showing.DataTypeConversion1; |
| 15133 | |
| 15134 | /* Inport: '<Root>/JD_In' */ |
| 15135 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15136 | motor_B.JD_In_d = motor_U.JD_In; |
| 15137 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15138 | |
| 15139 | /* Inport: '<Root>/YJ_In' */ |
| 15140 | motor_B.YJ_In = motor_U.YJ_In; |
| 15141 | |
| 15142 | /* Inport: '<Root>/Encode_Sp' */ |
| 15143 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15144 | |
| 15145 | /* Inport: '<Root>/System_Order' */ |
| 15146 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15147 | |
| 15148 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15149 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15150 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 15151 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 15152 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 15153 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 15154 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 15155 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 15156 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 15157 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 15158 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 15159 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15160 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15161 | &motor_DWork.chu_jd); |
| 15162 | |
| 15163 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15164 | tmp_0 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15165 | if (tmp_0 < 65536.0) { |
| 15166 | if (tmp_0 >= 0.0) { |
| 15167 | tmp = (uint16_T)tmp_0; |
| 15168 | } else { |
| 15169 | tmp = 0U; |
| 15170 | } |
| 15171 | } else { |
| 15172 | tmp = MAX_uint16_T; |
| 15173 | } |
| 15174 | |
| 15175 | motor_Y.PWMOUT = tmp; |
| 15176 | tmp_0 = motor_B.Motor_XHZY.KP_JD; |
| 15177 | if (tmp_0 < 2.147483648E+9) { |
| 15178 | if (tmp_0 >= -2.147483648E+9) { |
| 15179 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 15180 | } else { |
| 15181 | saturatedUnaryMinus = MIN_int32_T; |
| 15182 | } |
| 15183 | } else { |
| 15184 | saturatedUnaryMinus = MAX_int32_T; |
| 15185 | } |
| 15186 | |
| 15187 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 15188 | tmp_0 = motor_B.Motor_XHZY.KP_e; |
| 15189 | if (tmp_0 < 2.147483648E+9) { |
| 15190 | if (tmp_0 >= -2.147483648E+9) { |
| 15191 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 15192 | } else { |
| 15193 | saturatedUnaryMinus = MIN_int32_T; |
| 15194 | } |
| 15195 | } else { |
| 15196 | saturatedUnaryMinus = MAX_int32_T; |
| 15197 | } |
| 15198 | |
| 15199 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 15200 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15201 | } |
| 15202 | break; |
| 15203 | |
| 15204 | default: |
| 15205 | /* During 'XHZY_Wait': '<S1>:224' */ |
| 15206 | if (motor_DWork.temporalCounter_i2 >= 100U) { |
| 15207 | /* Transition: '<S1>:660' */ |
| 15208 | motor_DWork.is_XHZY_h = motor_IN_XHZY_Run1_a; |
| 15209 | |
| 15210 | /* Entry 'XHZY_Run1': '<S1>:944' */ |
| 15211 | motor_DWork.KG_JD = 0U; |
| 15212 | motor_DWork.Showing_Angle0 = 0.0; |
| 15213 | } else { |
| 15214 | /* Inport: '<Root>/JD_In' */ |
| 15215 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15216 | motor_B.JD_In_d = motor_U.JD_In; |
| 15217 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15218 | |
| 15219 | /* Inport: '<Root>/YJ_In' */ |
| 15220 | motor_B.YJ_In = motor_U.YJ_In; |
| 15221 | |
| 15222 | /* Inport: '<Root>/Encode_Sp' */ |
| 15223 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15224 | |
| 15225 | /* Inport: '<Root>/System_Order' */ |
| 15226 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15227 | |
| 15228 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15229 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15230 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 15231 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 15232 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 15233 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 15234 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 15235 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 15236 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 15237 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 15238 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 15239 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15240 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15241 | &motor_DWork.chu_jd); |
| 15242 | |
| 15243 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15244 | tmp_0 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15245 | if (tmp_0 < 65536.0) { |
| 15246 | if (tmp_0 >= 0.0) { |
| 15247 | tmp = (uint16_T)tmp_0; |
| 15248 | } else { |
| 15249 | tmp = 0U; |
| 15250 | } |
| 15251 | } else { |
| 15252 | tmp = MAX_uint16_T; |
| 15253 | } |
| 15254 | |
| 15255 | motor_Y.PWMOUT = tmp; |
| 15256 | tmp_0 = motor_B.Motor_XHZY.KP_JD; |
| 15257 | if (tmp_0 < 2.147483648E+9) { |
| 15258 | if (tmp_0 >= -2.147483648E+9) { |
| 15259 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 15260 | } else { |
| 15261 | saturatedUnaryMinus = MIN_int32_T; |
| 15262 | } |
| 15263 | } else { |
| 15264 | saturatedUnaryMinus = MAX_int32_T; |
| 15265 | } |
| 15266 | |
| 15267 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 15268 | tmp_0 = motor_B.Motor_XHZY.KP_e; |
| 15269 | if (tmp_0 < 2.147483648E+9) { |
| 15270 | if (tmp_0 >= -2.147483648E+9) { |
| 15271 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 15272 | } else { |
| 15273 | saturatedUnaryMinus = MIN_int32_T; |
| 15274 | } |
| 15275 | } else { |
| 15276 | saturatedUnaryMinus = MAX_int32_T; |
| 15277 | } |
| 15278 | |
| 15279 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 15280 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15281 | |
| 15282 | /* PWMOUT=2500; */ |
| 15283 | } |
| 15284 | break; |
| 15285 | } |
| 15286 | } |
| 15287 | |
| 15288 | /* End of Inport: '<Root>/Test_Mode' */ |
| 15289 | } |
| 15290 | |
| 15291 | /* Function for Chart: '<Root>/Chart' */ |
| 15292 | static void motor_XHZY_asn(void) |
| 15293 | { |
| 15294 | int32_T tmp; |
| 15295 | uint16_T tmp_0; |
| 15296 | real_T tmp_1; |
| 15297 | |
| 15298 | /* During 'XHZY': '<S1>:316' */ |
| 15299 | switch (motor_DWork.is_XHZY_m) { |
| 15300 | case motor_IN_Int: |
| 15301 | /* During 'Int': '<S1>:317' */ |
| 15302 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 15303 | /* Transition: '<S1>:1018' */ |
| 15304 | motor_DWork.is_XHZY_m = motor_IN_Int8; |
| 15305 | } |
| 15306 | break; |
| 15307 | |
| 15308 | case motor_IN_Int1: |
| 15309 | /* Inport: '<Root>/Down_Limit' */ |
| 15310 | /* During 'Int1': '<S1>:318' */ |
| 15311 | if (motor_U.Down_Limit == 0) { |
| 15312 | /* Transition: '<S1>:751' */ |
| 15313 | /* 上限位开关低电平有效 */ |
| 15314 | motor_DWork.is_XHZY_m = motor_IN_Int2_i; |
| 15315 | motor_DWork.temporalCounter_i2 = 0U; |
| 15316 | |
| 15317 | /* Entry 'Int2': '<S1>:319' */ |
| 15318 | motor_DWork.chu_jd -= 0.002; |
| 15319 | |
| 15320 | /* Inport: '<Root>/JD_In' */ |
| 15321 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15322 | motor_B.JD_In_d = motor_U.JD_In; |
| 15323 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15324 | |
| 15325 | /* Inport: '<Root>/YJ_In' */ |
| 15326 | motor_B.YJ_In = motor_U.YJ_In; |
| 15327 | |
| 15328 | /* Inport: '<Root>/Encode_Sp' */ |
| 15329 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15330 | |
| 15331 | /* Inport: '<Root>/System_Order' */ |
| 15332 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15333 | |
| 15334 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15335 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15336 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15337 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15338 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15339 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15340 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15341 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15342 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15343 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15344 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15345 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15346 | &motor_DWork.chu_jd); |
| 15347 | |
| 15348 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15349 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15350 | if (tmp_1 < 65536.0) { |
| 15351 | if (tmp_1 >= 0.0) { |
| 15352 | tmp_0 = (uint16_T)tmp_1; |
| 15353 | } else { |
| 15354 | tmp_0 = 0U; |
| 15355 | } |
| 15356 | } else { |
| 15357 | tmp_0 = MAX_uint16_T; |
| 15358 | } |
| 15359 | |
| 15360 | motor_Y.PWMOUT = tmp_0; |
| 15361 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15362 | if (tmp_1 < 2.147483648E+9) { |
| 15363 | if (tmp_1 >= -2.147483648E+9) { |
| 15364 | tmp = (int32_T)tmp_1; |
| 15365 | } else { |
| 15366 | tmp = MIN_int32_T; |
| 15367 | } |
| 15368 | } else { |
| 15369 | tmp = MAX_int32_T; |
| 15370 | } |
| 15371 | |
| 15372 | motor_Y.JD_Out = tmp; |
| 15373 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15374 | if (tmp_1 < 2.147483648E+9) { |
| 15375 | if (tmp_1 >= -2.147483648E+9) { |
| 15376 | tmp = (int32_T)tmp_1; |
| 15377 | } else { |
| 15378 | tmp = MIN_int32_T; |
| 15379 | } |
| 15380 | } else { |
| 15381 | tmp = MAX_int32_T; |
| 15382 | } |
| 15383 | |
| 15384 | motor_Y.JD_Error = tmp; |
| 15385 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15386 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(5.0 / motor_DWork.Ts)) |
| 15387 | { |
| 15388 | /* Transition: '<S1>:1071' */ |
| 15389 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 15390 | |
| 15391 | /* 下限位开关故障$/ */ |
| 15392 | motor_DWork.is_XHZY_m = motor_IN_Int2_i; |
| 15393 | motor_DWork.temporalCounter_i2 = 0U; |
| 15394 | |
| 15395 | /* Entry 'Int2': '<S1>:319' */ |
| 15396 | motor_DWork.chu_jd -= 0.002; |
| 15397 | |
| 15398 | /* Inport: '<Root>/JD_In' */ |
| 15399 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15400 | motor_B.JD_In_d = motor_U.JD_In; |
| 15401 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15402 | |
| 15403 | /* Inport: '<Root>/YJ_In' */ |
| 15404 | motor_B.YJ_In = motor_U.YJ_In; |
| 15405 | |
| 15406 | /* Inport: '<Root>/Encode_Sp' */ |
| 15407 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15408 | |
| 15409 | /* Inport: '<Root>/System_Order' */ |
| 15410 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15411 | |
| 15412 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15413 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15414 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15415 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15416 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15417 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15418 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15419 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15420 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15421 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15422 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15423 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15424 | &motor_DWork.chu_jd); |
| 15425 | |
| 15426 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15427 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15428 | if (tmp_1 < 65536.0) { |
| 15429 | if (tmp_1 >= 0.0) { |
| 15430 | tmp_0 = (uint16_T)tmp_1; |
| 15431 | } else { |
| 15432 | tmp_0 = 0U; |
| 15433 | } |
| 15434 | } else { |
| 15435 | tmp_0 = MAX_uint16_T; |
| 15436 | } |
| 15437 | |
| 15438 | motor_Y.PWMOUT = tmp_0; |
| 15439 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15440 | if (tmp_1 < 2.147483648E+9) { |
| 15441 | if (tmp_1 >= -2.147483648E+9) { |
| 15442 | tmp = (int32_T)tmp_1; |
| 15443 | } else { |
| 15444 | tmp = MIN_int32_T; |
| 15445 | } |
| 15446 | } else { |
| 15447 | tmp = MAX_int32_T; |
| 15448 | } |
| 15449 | |
| 15450 | motor_Y.JD_Out = tmp; |
| 15451 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15452 | if (tmp_1 < 2.147483648E+9) { |
| 15453 | if (tmp_1 >= -2.147483648E+9) { |
| 15454 | tmp = (int32_T)tmp_1; |
| 15455 | } else { |
| 15456 | tmp = MIN_int32_T; |
| 15457 | } |
| 15458 | } else { |
| 15459 | tmp = MAX_int32_T; |
| 15460 | } |
| 15461 | |
| 15462 | motor_Y.JD_Error = tmp; |
| 15463 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15464 | } else { |
| 15465 | motor_DWork.chu_jd -= 0.002; |
| 15466 | |
| 15467 | /* Inport: '<Root>/JD_In' */ |
| 15468 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15469 | motor_B.JD_In_d = motor_U.JD_In; |
| 15470 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15471 | |
| 15472 | /* Inport: '<Root>/YJ_In' */ |
| 15473 | motor_B.YJ_In = motor_U.YJ_In; |
| 15474 | |
| 15475 | /* Inport: '<Root>/Encode_Sp' */ |
| 15476 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15477 | |
| 15478 | /* Inport: '<Root>/System_Order' */ |
| 15479 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15480 | |
| 15481 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15482 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15483 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15484 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15485 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15486 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15487 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15488 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15489 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15490 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15491 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15492 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15493 | &motor_DWork.chu_jd); |
| 15494 | |
| 15495 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15496 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15497 | if (tmp_1 < 65536.0) { |
| 15498 | if (tmp_1 >= 0.0) { |
| 15499 | tmp_0 = (uint16_T)tmp_1; |
| 15500 | } else { |
| 15501 | tmp_0 = 0U; |
| 15502 | } |
| 15503 | } else { |
| 15504 | tmp_0 = MAX_uint16_T; |
| 15505 | } |
| 15506 | |
| 15507 | motor_Y.PWMOUT = tmp_0; |
| 15508 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15509 | if (tmp_1 < 2.147483648E+9) { |
| 15510 | if (tmp_1 >= -2.147483648E+9) { |
| 15511 | tmp = (int32_T)tmp_1; |
| 15512 | } else { |
| 15513 | tmp = MIN_int32_T; |
| 15514 | } |
| 15515 | } else { |
| 15516 | tmp = MAX_int32_T; |
| 15517 | } |
| 15518 | |
| 15519 | motor_Y.JD_Out = tmp; |
| 15520 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15521 | if (tmp_1 < 2.147483648E+9) { |
| 15522 | if (tmp_1 >= -2.147483648E+9) { |
| 15523 | tmp = (int32_T)tmp_1; |
| 15524 | } else { |
| 15525 | tmp = MIN_int32_T; |
| 15526 | } |
| 15527 | } else { |
| 15528 | tmp = MAX_int32_T; |
| 15529 | } |
| 15530 | |
| 15531 | motor_Y.JD_Error = tmp; |
| 15532 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15533 | } |
| 15534 | |
| 15535 | /* End of Inport: '<Root>/Down_Limit' */ |
| 15536 | break; |
| 15537 | |
| 15538 | case motor_IN_Int2_i: |
| 15539 | /* During 'Int2': '<S1>:319' */ |
| 15540 | if (motor_DWork.temporalCounter_i2 >= 50U) { |
| 15541 | /* Transition: '<S1>:753' */ |
| 15542 | motor_DWork.is_XHZY_m = motor_IN_Int7; |
| 15543 | motor_DWork.temporalCounter_i2 = 0U; |
| 15544 | } else { |
| 15545 | motor_DWork.chu_jd -= 0.002; |
| 15546 | |
| 15547 | /* Inport: '<Root>/JD_In' */ |
| 15548 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15549 | motor_B.JD_In_d = motor_U.JD_In; |
| 15550 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15551 | |
| 15552 | /* Inport: '<Root>/YJ_In' */ |
| 15553 | motor_B.YJ_In = motor_U.YJ_In; |
| 15554 | |
| 15555 | /* Inport: '<Root>/Encode_Sp' */ |
| 15556 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15557 | |
| 15558 | /* Inport: '<Root>/System_Order' */ |
| 15559 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15560 | |
| 15561 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15562 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15563 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15564 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15565 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15566 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15567 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15568 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15569 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15570 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15571 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15572 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15573 | &motor_DWork.chu_jd); |
| 15574 | |
| 15575 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15576 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15577 | if (tmp_1 < 65536.0) { |
| 15578 | if (tmp_1 >= 0.0) { |
| 15579 | tmp_0 = (uint16_T)tmp_1; |
| 15580 | } else { |
| 15581 | tmp_0 = 0U; |
| 15582 | } |
| 15583 | } else { |
| 15584 | tmp_0 = MAX_uint16_T; |
| 15585 | } |
| 15586 | |
| 15587 | motor_Y.PWMOUT = tmp_0; |
| 15588 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15589 | if (tmp_1 < 2.147483648E+9) { |
| 15590 | if (tmp_1 >= -2.147483648E+9) { |
| 15591 | tmp = (int32_T)tmp_1; |
| 15592 | } else { |
| 15593 | tmp = MIN_int32_T; |
| 15594 | } |
| 15595 | } else { |
| 15596 | tmp = MAX_int32_T; |
| 15597 | } |
| 15598 | |
| 15599 | motor_Y.JD_Out = tmp; |
| 15600 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15601 | if (tmp_1 < 2.147483648E+9) { |
| 15602 | if (tmp_1 >= -2.147483648E+9) { |
| 15603 | tmp = (int32_T)tmp_1; |
| 15604 | } else { |
| 15605 | tmp = MIN_int32_T; |
| 15606 | } |
| 15607 | } else { |
| 15608 | tmp = MAX_int32_T; |
| 15609 | } |
| 15610 | |
| 15611 | motor_Y.JD_Error = tmp; |
| 15612 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15613 | } |
| 15614 | break; |
| 15615 | |
| 15616 | case motor_IN_Int3_l: |
| 15617 | /* During 'Int3': '<S1>:320' */ |
| 15618 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 15619 | /* Transition: '<S1>:755' */ |
| 15620 | motor_DWork.is_XHZY_m = motor_IN_Int4_b; |
| 15621 | motor_DWork.temporalCounter_i2 = 0U; |
| 15622 | |
| 15623 | /* Entry 'Int4': '<S1>:322' */ |
| 15624 | motor_DWork.chu_jd = 0.0; |
| 15625 | |
| 15626 | /* Inport: '<Root>/JD_In' */ |
| 15627 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15628 | motor_B.JD_In_d = motor_U.JD_In; |
| 15629 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15630 | |
| 15631 | /* Inport: '<Root>/YJ_In' */ |
| 15632 | motor_B.YJ_In = motor_U.YJ_In; |
| 15633 | |
| 15634 | /* Inport: '<Root>/Encode_Sp' */ |
| 15635 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15636 | |
| 15637 | /* Inport: '<Root>/System_Order' */ |
| 15638 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15639 | |
| 15640 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15641 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15642 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15643 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15644 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15645 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15646 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15647 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15648 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15649 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15650 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15651 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15652 | &motor_DWork.chu_jd); |
| 15653 | |
| 15654 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15655 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15656 | if (tmp_1 < 65536.0) { |
| 15657 | if (tmp_1 >= 0.0) { |
| 15658 | tmp_0 = (uint16_T)tmp_1; |
| 15659 | } else { |
| 15660 | tmp_0 = 0U; |
| 15661 | } |
| 15662 | } else { |
| 15663 | tmp_0 = MAX_uint16_T; |
| 15664 | } |
| 15665 | |
| 15666 | motor_Y.PWMOUT = tmp_0; |
| 15667 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15668 | if (tmp_1 < 2.147483648E+9) { |
| 15669 | if (tmp_1 >= -2.147483648E+9) { |
| 15670 | tmp = (int32_T)tmp_1; |
| 15671 | } else { |
| 15672 | tmp = MIN_int32_T; |
| 15673 | } |
| 15674 | } else { |
| 15675 | tmp = MAX_int32_T; |
| 15676 | } |
| 15677 | |
| 15678 | motor_Y.JD_Out = tmp; |
| 15679 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15680 | if (tmp_1 < 2.147483648E+9) { |
| 15681 | if (tmp_1 >= -2.147483648E+9) { |
| 15682 | tmp = (int32_T)tmp_1; |
| 15683 | } else { |
| 15684 | tmp = MIN_int32_T; |
| 15685 | } |
| 15686 | } else { |
| 15687 | tmp = MAX_int32_T; |
| 15688 | } |
| 15689 | |
| 15690 | motor_Y.JD_Error = tmp; |
| 15691 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15692 | } else { |
| 15693 | motor_DWork.chu_jd += 0.01; |
| 15694 | |
| 15695 | /* Inport: '<Root>/JD_In' */ |
| 15696 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15697 | motor_B.JD_In_d = motor_U.JD_In; |
| 15698 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15699 | |
| 15700 | /* Inport: '<Root>/YJ_In' */ |
| 15701 | motor_B.YJ_In = motor_U.YJ_In; |
| 15702 | |
| 15703 | /* Inport: '<Root>/Encode_Sp' */ |
| 15704 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15705 | |
| 15706 | /* Inport: '<Root>/System_Order' */ |
| 15707 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15708 | |
| 15709 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15710 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15711 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15712 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15713 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15714 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15715 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15716 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15717 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15718 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15719 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15720 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15721 | &motor_DWork.chu_jd); |
| 15722 | |
| 15723 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15724 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15725 | if (tmp_1 < 65536.0) { |
| 15726 | if (tmp_1 >= 0.0) { |
| 15727 | tmp_0 = (uint16_T)tmp_1; |
| 15728 | } else { |
| 15729 | tmp_0 = 0U; |
| 15730 | } |
| 15731 | } else { |
| 15732 | tmp_0 = MAX_uint16_T; |
| 15733 | } |
| 15734 | |
| 15735 | motor_Y.PWMOUT = tmp_0; |
| 15736 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15737 | if (tmp_1 < 2.147483648E+9) { |
| 15738 | if (tmp_1 >= -2.147483648E+9) { |
| 15739 | tmp = (int32_T)tmp_1; |
| 15740 | } else { |
| 15741 | tmp = MIN_int32_T; |
| 15742 | } |
| 15743 | } else { |
| 15744 | tmp = MAX_int32_T; |
| 15745 | } |
| 15746 | |
| 15747 | motor_Y.JD_Out = tmp; |
| 15748 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15749 | if (tmp_1 < 2.147483648E+9) { |
| 15750 | if (tmp_1 >= -2.147483648E+9) { |
| 15751 | tmp = (int32_T)tmp_1; |
| 15752 | } else { |
| 15753 | tmp = MIN_int32_T; |
| 15754 | } |
| 15755 | } else { |
| 15756 | tmp = MAX_int32_T; |
| 15757 | } |
| 15758 | |
| 15759 | motor_Y.JD_Error = tmp; |
| 15760 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15761 | } |
| 15762 | break; |
| 15763 | |
| 15764 | case motor_IN_Int4_b: |
| 15765 | /* During 'Int4': '<S1>:322' */ |
| 15766 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 15767 | /* Transition: '<S1>:756' */ |
| 15768 | motor_DWork.is_XHZY_m = motor_IN_Int5_a; |
| 15769 | motor_DWork.temporalCounter_i2 = 0U; |
| 15770 | |
| 15771 | /* Entry 'Int5': '<S1>:323' */ |
| 15772 | motor_Y.Motor_En = true; |
| 15773 | |
| 15774 | /* 电机失能 */ |
| 15775 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 15776 | } else { |
| 15777 | /* Inport: '<Root>/JD_In' */ |
| 15778 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15779 | motor_B.JD_In_d = motor_U.JD_In; |
| 15780 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15781 | |
| 15782 | /* Inport: '<Root>/YJ_In' */ |
| 15783 | motor_B.YJ_In = motor_U.YJ_In; |
| 15784 | |
| 15785 | /* Inport: '<Root>/Encode_Sp' */ |
| 15786 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15787 | |
| 15788 | /* Inport: '<Root>/System_Order' */ |
| 15789 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15790 | |
| 15791 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15792 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15793 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15794 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15795 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15796 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15797 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15798 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15799 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15800 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15801 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15802 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15803 | &motor_DWork.chu_jd); |
| 15804 | |
| 15805 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15806 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15807 | if (tmp_1 < 65536.0) { |
| 15808 | if (tmp_1 >= 0.0) { |
| 15809 | tmp_0 = (uint16_T)tmp_1; |
| 15810 | } else { |
| 15811 | tmp_0 = 0U; |
| 15812 | } |
| 15813 | } else { |
| 15814 | tmp_0 = MAX_uint16_T; |
| 15815 | } |
| 15816 | |
| 15817 | motor_Y.PWMOUT = tmp_0; |
| 15818 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15819 | if (tmp_1 < 2.147483648E+9) { |
| 15820 | if (tmp_1 >= -2.147483648E+9) { |
| 15821 | tmp = (int32_T)tmp_1; |
| 15822 | } else { |
| 15823 | tmp = MIN_int32_T; |
| 15824 | } |
| 15825 | } else { |
| 15826 | tmp = MAX_int32_T; |
| 15827 | } |
| 15828 | |
| 15829 | motor_Y.JD_Out = tmp; |
| 15830 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15831 | if (tmp_1 < 2.147483648E+9) { |
| 15832 | if (tmp_1 >= -2.147483648E+9) { |
| 15833 | tmp = (int32_T)tmp_1; |
| 15834 | } else { |
| 15835 | tmp = MIN_int32_T; |
| 15836 | } |
| 15837 | } else { |
| 15838 | tmp = MAX_int32_T; |
| 15839 | } |
| 15840 | |
| 15841 | motor_Y.JD_Error = tmp; |
| 15842 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15843 | } |
| 15844 | break; |
| 15845 | |
| 15846 | case motor_IN_Int5_a: |
| 15847 | /* During 'Int5': '<S1>:323' */ |
| 15848 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 15849 | /* Transition: '<S1>:754' */ |
| 15850 | motor_DWork.is_XHZY_m = motor_IN_Int6_m; |
| 15851 | |
| 15852 | /* Entry 'Int6': '<S1>:321' */ |
| 15853 | motor_Y.DCZD = true; |
| 15854 | |
| 15855 | /* 开启制动 */ |
| 15856 | } |
| 15857 | break; |
| 15858 | |
| 15859 | case motor_IN_Int6_m: |
| 15860 | /* During 'Int6': '<S1>:321' */ |
| 15861 | /* Transition: '<S1>:752' */ |
| 15862 | /* Transition: '<S1>:738' */ |
| 15863 | /* Transition: '<S1>:620' */ |
| 15864 | motor_DWork.XiaoDaShen = 0.0; |
| 15865 | motor_DWork.is_XHZY_m = motor_IN_NO_ACTIVE_CHILD; |
| 15866 | motor_DWork.is_Limit_Down_Test_i = motor_IN_NO_ACTIVE_CHILD; |
| 15867 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 15868 | |
| 15869 | /* Entry 'Defualt': '<S1>:206' */ |
| 15870 | motor_DWork.chu_jd = 0.0; |
| 15871 | motor_DWork.KG = 0U; |
| 15872 | motor_Y.Motor_En = false; |
| 15873 | motor_Y.DCZD = false; |
| 15874 | |
| 15875 | /* 开电磁制动,低有效 */ |
| 15876 | break; |
| 15877 | |
| 15878 | case motor_IN_Int7: |
| 15879 | /* During 'Int7': '<S1>:961' */ |
| 15880 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 15881 | /* Transition: '<S1>:962' */ |
| 15882 | motor_DWork.is_XHZY_m = motor_IN_Int3_l; |
| 15883 | |
| 15884 | /* Entry 'Int3': '<S1>:320' */ |
| 15885 | motor_DWork.chu_jd += 0.01; |
| 15886 | |
| 15887 | /* Inport: '<Root>/JD_In' */ |
| 15888 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15889 | motor_B.JD_In_d = motor_U.JD_In; |
| 15890 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15891 | |
| 15892 | /* Inport: '<Root>/YJ_In' */ |
| 15893 | motor_B.YJ_In = motor_U.YJ_In; |
| 15894 | |
| 15895 | /* Inport: '<Root>/Encode_Sp' */ |
| 15896 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15897 | |
| 15898 | /* Inport: '<Root>/System_Order' */ |
| 15899 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15900 | |
| 15901 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15902 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15903 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15904 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15905 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15906 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15907 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15908 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15909 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15910 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15911 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15912 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15913 | &motor_DWork.chu_jd); |
| 15914 | |
| 15915 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15916 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15917 | if (tmp_1 < 65536.0) { |
| 15918 | if (tmp_1 >= 0.0) { |
| 15919 | tmp_0 = (uint16_T)tmp_1; |
| 15920 | } else { |
| 15921 | tmp_0 = 0U; |
| 15922 | } |
| 15923 | } else { |
| 15924 | tmp_0 = MAX_uint16_T; |
| 15925 | } |
| 15926 | |
| 15927 | motor_Y.PWMOUT = tmp_0; |
| 15928 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15929 | if (tmp_1 < 2.147483648E+9) { |
| 15930 | if (tmp_1 >= -2.147483648E+9) { |
| 15931 | tmp = (int32_T)tmp_1; |
| 15932 | } else { |
| 15933 | tmp = MIN_int32_T; |
| 15934 | } |
| 15935 | } else { |
| 15936 | tmp = MAX_int32_T; |
| 15937 | } |
| 15938 | |
| 15939 | motor_Y.JD_Out = tmp; |
| 15940 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 15941 | if (tmp_1 < 2.147483648E+9) { |
| 15942 | if (tmp_1 >= -2.147483648E+9) { |
| 15943 | tmp = (int32_T)tmp_1; |
| 15944 | } else { |
| 15945 | tmp = MIN_int32_T; |
| 15946 | } |
| 15947 | } else { |
| 15948 | tmp = MAX_int32_T; |
| 15949 | } |
| 15950 | |
| 15951 | motor_Y.JD_Error = tmp; |
| 15952 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 15953 | } else { |
| 15954 | /* Inport: '<Root>/JD_In' */ |
| 15955 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 15956 | motor_B.JD_In_d = motor_U.JD_In; |
| 15957 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 15958 | |
| 15959 | /* Inport: '<Root>/YJ_In' */ |
| 15960 | motor_B.YJ_In = motor_U.YJ_In; |
| 15961 | |
| 15962 | /* Inport: '<Root>/Encode_Sp' */ |
| 15963 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 15964 | |
| 15965 | /* Inport: '<Root>/System_Order' */ |
| 15966 | motor_B.Slect_port_h = motor_U.System_Order; |
| 15967 | |
| 15968 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 15969 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 15970 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 15971 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 15972 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 15973 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 15974 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 15975 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 15976 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 15977 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 15978 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 15979 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 15980 | &motor_DWork.chu_jd); |
| 15981 | |
| 15982 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 15983 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 15984 | if (tmp_1 < 65536.0) { |
| 15985 | if (tmp_1 >= 0.0) { |
| 15986 | tmp_0 = (uint16_T)tmp_1; |
| 15987 | } else { |
| 15988 | tmp_0 = 0U; |
| 15989 | } |
| 15990 | } else { |
| 15991 | tmp_0 = MAX_uint16_T; |
| 15992 | } |
| 15993 | |
| 15994 | motor_Y.PWMOUT = tmp_0; |
| 15995 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 15996 | if (tmp_1 < 2.147483648E+9) { |
| 15997 | if (tmp_1 >= -2.147483648E+9) { |
| 15998 | tmp = (int32_T)tmp_1; |
| 15999 | } else { |
| 16000 | tmp = MIN_int32_T; |
| 16001 | } |
| 16002 | } else { |
| 16003 | tmp = MAX_int32_T; |
| 16004 | } |
| 16005 | |
| 16006 | motor_Y.JD_Out = tmp; |
| 16007 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 16008 | if (tmp_1 < 2.147483648E+9) { |
| 16009 | if (tmp_1 >= -2.147483648E+9) { |
| 16010 | tmp = (int32_T)tmp_1; |
| 16011 | } else { |
| 16012 | tmp = MIN_int32_T; |
| 16013 | } |
| 16014 | } else { |
| 16015 | tmp = MAX_int32_T; |
| 16016 | } |
| 16017 | |
| 16018 | motor_Y.JD_Error = tmp; |
| 16019 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 16020 | } |
| 16021 | break; |
| 16022 | |
| 16023 | default: |
| 16024 | /* During 'Int8': '<S1>:1020' */ |
| 16025 | if (motor_DWork.chu_jd < -16.0) { |
| 16026 | /* Transition: '<S1>:1019' */ |
| 16027 | motor_DWork.is_XHZY_m = motor_IN_Int1; |
| 16028 | motor_DWork.temporalCounter_i2 = 0U; |
| 16029 | |
| 16030 | /* Entry 'Int1': '<S1>:318' */ |
| 16031 | motor_DWork.chu_jd -= 0.002; |
| 16032 | |
| 16033 | /* Inport: '<Root>/JD_In' */ |
| 16034 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 16035 | motor_B.JD_In_d = motor_U.JD_In; |
| 16036 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 16037 | |
| 16038 | /* Inport: '<Root>/YJ_In' */ |
| 16039 | motor_B.YJ_In = motor_U.YJ_In; |
| 16040 | |
| 16041 | /* Inport: '<Root>/Encode_Sp' */ |
| 16042 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 16043 | |
| 16044 | /* Inport: '<Root>/System_Order' */ |
| 16045 | motor_B.Slect_port_h = motor_U.System_Order; |
| 16046 | |
| 16047 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 16048 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 16049 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 16050 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 16051 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 16052 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 16053 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 16054 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 16055 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 16056 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 16057 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 16058 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 16059 | &motor_DWork.chu_jd); |
| 16060 | |
| 16061 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 16062 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 16063 | if (tmp_1 < 65536.0) { |
| 16064 | if (tmp_1 >= 0.0) { |
| 16065 | tmp_0 = (uint16_T)tmp_1; |
| 16066 | } else { |
| 16067 | tmp_0 = 0U; |
| 16068 | } |
| 16069 | } else { |
| 16070 | tmp_0 = MAX_uint16_T; |
| 16071 | } |
| 16072 | |
| 16073 | motor_Y.PWMOUT = tmp_0; |
| 16074 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 16075 | if (tmp_1 < 2.147483648E+9) { |
| 16076 | if (tmp_1 >= -2.147483648E+9) { |
| 16077 | tmp = (int32_T)tmp_1; |
| 16078 | } else { |
| 16079 | tmp = MIN_int32_T; |
| 16080 | } |
| 16081 | } else { |
| 16082 | tmp = MAX_int32_T; |
| 16083 | } |
| 16084 | |
| 16085 | motor_Y.JD_Out = tmp; |
| 16086 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 16087 | if (tmp_1 < 2.147483648E+9) { |
| 16088 | if (tmp_1 >= -2.147483648E+9) { |
| 16089 | tmp = (int32_T)tmp_1; |
| 16090 | } else { |
| 16091 | tmp = MIN_int32_T; |
| 16092 | } |
| 16093 | } else { |
| 16094 | tmp = MAX_int32_T; |
| 16095 | } |
| 16096 | |
| 16097 | motor_Y.JD_Error = tmp; |
| 16098 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 16099 | } else if (motor_U.Down_Limit == 0) { |
| 16100 | /* Transition: '<S1>:1017' */ |
| 16101 | /* 下限位开关低电平有效 */ |
| 16102 | motor_DWork.is_XHZY_m = motor_IN_Int2_i; |
| 16103 | motor_DWork.temporalCounter_i2 = 0U; |
| 16104 | |
| 16105 | /* Entry 'Int2': '<S1>:319' */ |
| 16106 | motor_DWork.chu_jd -= 0.002; |
| 16107 | |
| 16108 | /* Inport: '<Root>/JD_In' */ |
| 16109 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 16110 | motor_B.JD_In_d = motor_U.JD_In; |
| 16111 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 16112 | |
| 16113 | /* Inport: '<Root>/YJ_In' */ |
| 16114 | motor_B.YJ_In = motor_U.YJ_In; |
| 16115 | |
| 16116 | /* Inport: '<Root>/Encode_Sp' */ |
| 16117 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 16118 | |
| 16119 | /* Inport: '<Root>/System_Order' */ |
| 16120 | motor_B.Slect_port_h = motor_U.System_Order; |
| 16121 | |
| 16122 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 16123 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 16124 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 16125 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 16126 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 16127 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 16128 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 16129 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 16130 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 16131 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 16132 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 16133 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 16134 | &motor_DWork.chu_jd); |
| 16135 | |
| 16136 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 16137 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 16138 | if (tmp_1 < 65536.0) { |
| 16139 | if (tmp_1 >= 0.0) { |
| 16140 | tmp_0 = (uint16_T)tmp_1; |
| 16141 | } else { |
| 16142 | tmp_0 = 0U; |
| 16143 | } |
| 16144 | } else { |
| 16145 | tmp_0 = MAX_uint16_T; |
| 16146 | } |
| 16147 | |
| 16148 | motor_Y.PWMOUT = tmp_0; |
| 16149 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 16150 | if (tmp_1 < 2.147483648E+9) { |
| 16151 | if (tmp_1 >= -2.147483648E+9) { |
| 16152 | tmp = (int32_T)tmp_1; |
| 16153 | } else { |
| 16154 | tmp = MIN_int32_T; |
| 16155 | } |
| 16156 | } else { |
| 16157 | tmp = MAX_int32_T; |
| 16158 | } |
| 16159 | |
| 16160 | motor_Y.JD_Out = tmp; |
| 16161 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 16162 | if (tmp_1 < 2.147483648E+9) { |
| 16163 | if (tmp_1 >= -2.147483648E+9) { |
| 16164 | tmp = (int32_T)tmp_1; |
| 16165 | } else { |
| 16166 | tmp = MIN_int32_T; |
| 16167 | } |
| 16168 | } else { |
| 16169 | tmp = MAX_int32_T; |
| 16170 | } |
| 16171 | |
| 16172 | motor_Y.JD_Error = tmp; |
| 16173 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 16174 | } else { |
| 16175 | motor_DWork.chu_jd -= 0.01; |
| 16176 | |
| 16177 | /* Inport: '<Root>/JD_In' */ |
| 16178 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 16179 | motor_B.JD_In_d = motor_U.JD_In; |
| 16180 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 16181 | |
| 16182 | /* Inport: '<Root>/YJ_In' */ |
| 16183 | motor_B.YJ_In = motor_U.YJ_In; |
| 16184 | |
| 16185 | /* Inport: '<Root>/Encode_Sp' */ |
| 16186 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 16187 | |
| 16188 | /* Inport: '<Root>/System_Order' */ |
| 16189 | motor_B.Slect_port_h = motor_U.System_Order; |
| 16190 | |
| 16191 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 16192 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 16193 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 16194 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 16195 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 16196 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 16197 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 16198 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 16199 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 16200 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 16201 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 16202 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 16203 | &motor_DWork.chu_jd); |
| 16204 | |
| 16205 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 16206 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 16207 | if (tmp_1 < 65536.0) { |
| 16208 | if (tmp_1 >= 0.0) { |
| 16209 | tmp_0 = (uint16_T)tmp_1; |
| 16210 | } else { |
| 16211 | tmp_0 = 0U; |
| 16212 | } |
| 16213 | } else { |
| 16214 | tmp_0 = MAX_uint16_T; |
| 16215 | } |
| 16216 | |
| 16217 | motor_Y.PWMOUT = tmp_0; |
| 16218 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 16219 | if (tmp_1 < 2.147483648E+9) { |
| 16220 | if (tmp_1 >= -2.147483648E+9) { |
| 16221 | tmp = (int32_T)tmp_1; |
| 16222 | } else { |
| 16223 | tmp = MIN_int32_T; |
| 16224 | } |
| 16225 | } else { |
| 16226 | tmp = MAX_int32_T; |
| 16227 | } |
| 16228 | |
| 16229 | motor_Y.JD_Out = tmp; |
| 16230 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 16231 | if (tmp_1 < 2.147483648E+9) { |
| 16232 | if (tmp_1 >= -2.147483648E+9) { |
| 16233 | tmp = (int32_T)tmp_1; |
| 16234 | } else { |
| 16235 | tmp = MIN_int32_T; |
| 16236 | } |
| 16237 | } else { |
| 16238 | tmp = MAX_int32_T; |
| 16239 | } |
| 16240 | |
| 16241 | motor_Y.JD_Error = tmp; |
| 16242 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 16243 | } |
| 16244 | break; |
| 16245 | } |
| 16246 | } |
| 16247 | |
| 16248 | /* Function for Chart: '<Root>/Chart' */ |
| 16249 | static void motor_Limit_Down_Test_b(void) |
| 16250 | { |
| 16251 | int32_T tmp; |
| 16252 | real_T tmp_0; |
| 16253 | uint16_T tmp_1; |
| 16254 | |
| 16255 | /* During 'Limit_Down_Test': '<S1>:315' */ |
| 16256 | switch (motor_DWork.is_Limit_Down_Test_i) { |
| 16257 | case motor_IN_HY_f: |
| 16258 | /* During 'HY': '<S1>:324' */ |
| 16259 | switch (motor_DWork.is_HY_aj) { |
| 16260 | case motor_IN_Int: |
| 16261 | /* During 'Int': '<S1>:325' */ |
| 16262 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 16263 | /* Transition: '<S1>:1023' */ |
| 16264 | motor_DWork.is_HY_aj = motor_IN_Int8; |
| 16265 | } |
| 16266 | break; |
| 16267 | |
| 16268 | case motor_IN_Int1: |
| 16269 | /* Inport: '<Root>/Down_Limit' */ |
| 16270 | /* During 'Int1': '<S1>:326' */ |
| 16271 | if (motor_U.Down_Limit == 0) { |
| 16272 | /* Transition: '<S1>:759' */ |
| 16273 | /* 上限位开关低电平有效 */ |
| 16274 | motor_DWork.is_HY_aj = motor_IN_Int2_i; |
| 16275 | motor_DWork.temporalCounter_i2 = 0U; |
| 16276 | |
| 16277 | /* Entry 'Int2': '<S1>:327' */ |
| 16278 | motor_DWork.chu_jd -= 0.002; |
| 16279 | |
| 16280 | /* Inport: '<Root>/JD_In' */ |
| 16281 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16282 | motor_B.JD_In_f = motor_U.JD_In; |
| 16283 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16284 | |
| 16285 | /* Inport: '<Root>/System_Order' */ |
| 16286 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16287 | |
| 16288 | /* Inport: '<Root>/Encode_Sp' */ |
| 16289 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16290 | |
| 16291 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16292 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16293 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16294 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16295 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16296 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16297 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16298 | &motor_DWork.chu_jd); |
| 16299 | |
| 16300 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16301 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16302 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16303 | if (tmp_0 < 2.147483648E+9) { |
| 16304 | if (tmp_0 >= -2.147483648E+9) { |
| 16305 | tmp = (int32_T)tmp_0; |
| 16306 | } else { |
| 16307 | tmp = MIN_int32_T; |
| 16308 | } |
| 16309 | } else { |
| 16310 | tmp = MAX_int32_T; |
| 16311 | } |
| 16312 | |
| 16313 | motor_Y.JD_Error = tmp; |
| 16314 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16315 | if (tmp_0 < 2.147483648E+9) { |
| 16316 | if (tmp_0 >= -2.147483648E+9) { |
| 16317 | tmp = (int32_T)tmp_0; |
| 16318 | } else { |
| 16319 | tmp = MIN_int32_T; |
| 16320 | } |
| 16321 | } else { |
| 16322 | tmp = MAX_int32_T; |
| 16323 | } |
| 16324 | |
| 16325 | motor_Y.JD_Out = tmp; |
| 16326 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(7.0 / |
| 16327 | motor_DWork.Ts)) { |
| 16328 | /* Transition: '<S1>:1072' */ |
| 16329 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 16330 | |
| 16331 | /* 下限位开关故障$/ */ |
| 16332 | motor_DWork.is_HY_aj = motor_IN_Int2_i; |
| 16333 | motor_DWork.temporalCounter_i2 = 0U; |
| 16334 | |
| 16335 | /* Entry 'Int2': '<S1>:327' */ |
| 16336 | motor_DWork.chu_jd -= 0.002; |
| 16337 | |
| 16338 | /* Inport: '<Root>/JD_In' */ |
| 16339 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16340 | motor_B.JD_In_f = motor_U.JD_In; |
| 16341 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16342 | |
| 16343 | /* Inport: '<Root>/System_Order' */ |
| 16344 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16345 | |
| 16346 | /* Inport: '<Root>/Encode_Sp' */ |
| 16347 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16348 | |
| 16349 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16350 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16351 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16352 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16353 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16354 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16355 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16356 | &motor_DWork.chu_jd); |
| 16357 | |
| 16358 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16359 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16360 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16361 | if (tmp_0 < 2.147483648E+9) { |
| 16362 | if (tmp_0 >= -2.147483648E+9) { |
| 16363 | tmp = (int32_T)tmp_0; |
| 16364 | } else { |
| 16365 | tmp = MIN_int32_T; |
| 16366 | } |
| 16367 | } else { |
| 16368 | tmp = MAX_int32_T; |
| 16369 | } |
| 16370 | |
| 16371 | motor_Y.JD_Error = tmp; |
| 16372 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16373 | if (tmp_0 < 2.147483648E+9) { |
| 16374 | if (tmp_0 >= -2.147483648E+9) { |
| 16375 | tmp = (int32_T)tmp_0; |
| 16376 | } else { |
| 16377 | tmp = MIN_int32_T; |
| 16378 | } |
| 16379 | } else { |
| 16380 | tmp = MAX_int32_T; |
| 16381 | } |
| 16382 | |
| 16383 | motor_Y.JD_Out = tmp; |
| 16384 | } else { |
| 16385 | motor_DWork.chu_jd -= 0.002; |
| 16386 | |
| 16387 | /* Inport: '<Root>/JD_In' */ |
| 16388 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16389 | motor_B.JD_In_f = motor_U.JD_In; |
| 16390 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16391 | |
| 16392 | /* Inport: '<Root>/System_Order' */ |
| 16393 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16394 | |
| 16395 | /* Inport: '<Root>/Encode_Sp' */ |
| 16396 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16397 | |
| 16398 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16399 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16400 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16401 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16402 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16403 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16404 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16405 | &motor_DWork.chu_jd); |
| 16406 | |
| 16407 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16408 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16409 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16410 | if (tmp_0 < 2.147483648E+9) { |
| 16411 | if (tmp_0 >= -2.147483648E+9) { |
| 16412 | tmp = (int32_T)tmp_0; |
| 16413 | } else { |
| 16414 | tmp = MIN_int32_T; |
| 16415 | } |
| 16416 | } else { |
| 16417 | tmp = MAX_int32_T; |
| 16418 | } |
| 16419 | |
| 16420 | motor_Y.JD_Error = tmp; |
| 16421 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16422 | if (tmp_0 < 2.147483648E+9) { |
| 16423 | if (tmp_0 >= -2.147483648E+9) { |
| 16424 | tmp = (int32_T)tmp_0; |
| 16425 | } else { |
| 16426 | tmp = MIN_int32_T; |
| 16427 | } |
| 16428 | } else { |
| 16429 | tmp = MAX_int32_T; |
| 16430 | } |
| 16431 | |
| 16432 | motor_Y.JD_Out = tmp; |
| 16433 | } |
| 16434 | break; |
| 16435 | |
| 16436 | case motor_IN_Int2_i: |
| 16437 | /* During 'Int2': '<S1>:327' */ |
| 16438 | if (motor_DWork.temporalCounter_i2 >= 50U) { |
| 16439 | /* Transition: '<S1>:761' */ |
| 16440 | motor_DWork.is_HY_aj = motor_IN_Int7; |
| 16441 | motor_DWork.temporalCounter_i2 = 0U; |
| 16442 | } else { |
| 16443 | motor_DWork.chu_jd -= 0.002; |
| 16444 | |
| 16445 | /* Inport: '<Root>/JD_In' */ |
| 16446 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16447 | motor_B.JD_In_f = motor_U.JD_In; |
| 16448 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16449 | |
| 16450 | /* Inport: '<Root>/System_Order' */ |
| 16451 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16452 | |
| 16453 | /* Inport: '<Root>/Encode_Sp' */ |
| 16454 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16455 | |
| 16456 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16457 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16458 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16459 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16460 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16461 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16462 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16463 | &motor_DWork.chu_jd); |
| 16464 | |
| 16465 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16466 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16467 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16468 | if (tmp_0 < 2.147483648E+9) { |
| 16469 | if (tmp_0 >= -2.147483648E+9) { |
| 16470 | tmp = (int32_T)tmp_0; |
| 16471 | } else { |
| 16472 | tmp = MIN_int32_T; |
| 16473 | } |
| 16474 | } else { |
| 16475 | tmp = MAX_int32_T; |
| 16476 | } |
| 16477 | |
| 16478 | motor_Y.JD_Error = tmp; |
| 16479 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16480 | if (tmp_0 < 2.147483648E+9) { |
| 16481 | if (tmp_0 >= -2.147483648E+9) { |
| 16482 | tmp = (int32_T)tmp_0; |
| 16483 | } else { |
| 16484 | tmp = MIN_int32_T; |
| 16485 | } |
| 16486 | } else { |
| 16487 | tmp = MAX_int32_T; |
| 16488 | } |
| 16489 | |
| 16490 | motor_Y.JD_Out = tmp; |
| 16491 | } |
| 16492 | break; |
| 16493 | |
| 16494 | case motor_IN_Int3_l: |
| 16495 | /* During 'Int3': '<S1>:328' */ |
| 16496 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 16497 | /* Transition: '<S1>:762' */ |
| 16498 | motor_DWork.is_HY_aj = motor_IN_Int4_b; |
| 16499 | motor_DWork.temporalCounter_i2 = 0U; |
| 16500 | |
| 16501 | /* Entry 'Int4': '<S1>:330' */ |
| 16502 | motor_DWork.chu_jd = 0.0; |
| 16503 | |
| 16504 | /* Inport: '<Root>/JD_In' */ |
| 16505 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16506 | motor_B.JD_In_f = motor_U.JD_In; |
| 16507 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16508 | |
| 16509 | /* Inport: '<Root>/System_Order' */ |
| 16510 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16511 | |
| 16512 | /* Inport: '<Root>/Encode_Sp' */ |
| 16513 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16514 | |
| 16515 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16516 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16517 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16518 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16519 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16520 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16521 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16522 | &motor_DWork.chu_jd); |
| 16523 | |
| 16524 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16525 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16526 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16527 | if (tmp_0 < 2.147483648E+9) { |
| 16528 | if (tmp_0 >= -2.147483648E+9) { |
| 16529 | tmp = (int32_T)tmp_0; |
| 16530 | } else { |
| 16531 | tmp = MIN_int32_T; |
| 16532 | } |
| 16533 | } else { |
| 16534 | tmp = MAX_int32_T; |
| 16535 | } |
| 16536 | |
| 16537 | motor_Y.JD_Error = tmp; |
| 16538 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16539 | if (tmp_0 < 2.147483648E+9) { |
| 16540 | if (tmp_0 >= -2.147483648E+9) { |
| 16541 | tmp = (int32_T)tmp_0; |
| 16542 | } else { |
| 16543 | tmp = MIN_int32_T; |
| 16544 | } |
| 16545 | } else { |
| 16546 | tmp = MAX_int32_T; |
| 16547 | } |
| 16548 | |
| 16549 | motor_Y.JD_Out = tmp; |
| 16550 | } else { |
| 16551 | motor_DWork.chu_jd += 0.01; |
| 16552 | |
| 16553 | /* Inport: '<Root>/JD_In' */ |
| 16554 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16555 | motor_B.JD_In_f = motor_U.JD_In; |
| 16556 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16557 | |
| 16558 | /* Inport: '<Root>/System_Order' */ |
| 16559 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16560 | |
| 16561 | /* Inport: '<Root>/Encode_Sp' */ |
| 16562 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16563 | |
| 16564 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16565 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16566 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16567 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16568 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16569 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16570 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16571 | &motor_DWork.chu_jd); |
| 16572 | |
| 16573 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16574 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16575 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16576 | if (tmp_0 < 2.147483648E+9) { |
| 16577 | if (tmp_0 >= -2.147483648E+9) { |
| 16578 | tmp = (int32_T)tmp_0; |
| 16579 | } else { |
| 16580 | tmp = MIN_int32_T; |
| 16581 | } |
| 16582 | } else { |
| 16583 | tmp = MAX_int32_T; |
| 16584 | } |
| 16585 | |
| 16586 | motor_Y.JD_Error = tmp; |
| 16587 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16588 | if (tmp_0 < 2.147483648E+9) { |
| 16589 | if (tmp_0 >= -2.147483648E+9) { |
| 16590 | tmp = (int32_T)tmp_0; |
| 16591 | } else { |
| 16592 | tmp = MIN_int32_T; |
| 16593 | } |
| 16594 | } else { |
| 16595 | tmp = MAX_int32_T; |
| 16596 | } |
| 16597 | |
| 16598 | motor_Y.JD_Out = tmp; |
| 16599 | } |
| 16600 | break; |
| 16601 | |
| 16602 | case motor_IN_Int4_b: |
| 16603 | /* During 'Int4': '<S1>:330' */ |
| 16604 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 16605 | /* Transition: '<S1>:764' */ |
| 16606 | motor_DWork.is_HY_aj = motor_IN_Int5_a; |
| 16607 | motor_DWork.temporalCounter_i2 = 0U; |
| 16608 | |
| 16609 | /* Entry 'Int5': '<S1>:331' */ |
| 16610 | motor_Y.Motor_En = true; |
| 16611 | |
| 16612 | /* 电机失能 */ |
| 16613 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 16614 | } else { |
| 16615 | /* Inport: '<Root>/JD_In' */ |
| 16616 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16617 | motor_B.JD_In_f = motor_U.JD_In; |
| 16618 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16619 | |
| 16620 | /* Inport: '<Root>/System_Order' */ |
| 16621 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16622 | |
| 16623 | /* Inport: '<Root>/Encode_Sp' */ |
| 16624 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16625 | |
| 16626 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16627 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16628 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16629 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16630 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16631 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16632 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16633 | &motor_DWork.chu_jd); |
| 16634 | |
| 16635 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16636 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16637 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16638 | if (tmp_0 < 2.147483648E+9) { |
| 16639 | if (tmp_0 >= -2.147483648E+9) { |
| 16640 | tmp = (int32_T)tmp_0; |
| 16641 | } else { |
| 16642 | tmp = MIN_int32_T; |
| 16643 | } |
| 16644 | } else { |
| 16645 | tmp = MAX_int32_T; |
| 16646 | } |
| 16647 | |
| 16648 | motor_Y.JD_Error = tmp; |
| 16649 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16650 | if (tmp_0 < 2.147483648E+9) { |
| 16651 | if (tmp_0 >= -2.147483648E+9) { |
| 16652 | tmp = (int32_T)tmp_0; |
| 16653 | } else { |
| 16654 | tmp = MIN_int32_T; |
| 16655 | } |
| 16656 | } else { |
| 16657 | tmp = MAX_int32_T; |
| 16658 | } |
| 16659 | |
| 16660 | motor_Y.JD_Out = tmp; |
| 16661 | } |
| 16662 | break; |
| 16663 | |
| 16664 | case motor_IN_Int5_a: |
| 16665 | /* During 'Int5': '<S1>:331' */ |
| 16666 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 16667 | /* Transition: '<S1>:763' */ |
| 16668 | motor_DWork.is_HY_aj = motor_IN_Int6_m; |
| 16669 | |
| 16670 | /* Entry 'Int6': '<S1>:329' */ |
| 16671 | motor_Y.DCZD = false; |
| 16672 | |
| 16673 | /* 解除制动 */ |
| 16674 | } |
| 16675 | break; |
| 16676 | |
| 16677 | case motor_IN_Int6_m: |
| 16678 | /* During 'Int6': '<S1>:329' */ |
| 16679 | /* Transition: '<S1>:760' */ |
| 16680 | /* Transition: '<S1>:738' */ |
| 16681 | /* Transition: '<S1>:620' */ |
| 16682 | motor_DWork.XiaoDaShen = 0.0; |
| 16683 | motor_DWork.is_HY_aj = motor_IN_NO_ACTIVE_CHILD; |
| 16684 | motor_DWork.is_Limit_Down_Test_i = motor_IN_NO_ACTIVE_CHILD; |
| 16685 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 16686 | |
| 16687 | /* Entry 'Defualt': '<S1>:206' */ |
| 16688 | motor_DWork.chu_jd = 0.0; |
| 16689 | motor_DWork.KG = 0U; |
| 16690 | motor_Y.Motor_En = false; |
| 16691 | motor_Y.DCZD = false; |
| 16692 | |
| 16693 | /* 开电磁制动,低有效 */ |
| 16694 | break; |
| 16695 | |
| 16696 | case motor_IN_Int7: |
| 16697 | /* During 'Int7': '<S1>:963' */ |
| 16698 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 16699 | /* Transition: '<S1>:964' */ |
| 16700 | motor_DWork.is_HY_aj = motor_IN_Int3_l; |
| 16701 | |
| 16702 | /* Entry 'Int3': '<S1>:328' */ |
| 16703 | motor_DWork.chu_jd += 0.01; |
| 16704 | |
| 16705 | /* Inport: '<Root>/JD_In' */ |
| 16706 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16707 | motor_B.JD_In_f = motor_U.JD_In; |
| 16708 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16709 | |
| 16710 | /* Inport: '<Root>/System_Order' */ |
| 16711 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16712 | |
| 16713 | /* Inport: '<Root>/Encode_Sp' */ |
| 16714 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16715 | |
| 16716 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16717 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16718 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16719 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16720 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16721 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16722 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16723 | &motor_DWork.chu_jd); |
| 16724 | |
| 16725 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16726 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16727 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16728 | if (tmp_0 < 2.147483648E+9) { |
| 16729 | if (tmp_0 >= -2.147483648E+9) { |
| 16730 | tmp = (int32_T)tmp_0; |
| 16731 | } else { |
| 16732 | tmp = MIN_int32_T; |
| 16733 | } |
| 16734 | } else { |
| 16735 | tmp = MAX_int32_T; |
| 16736 | } |
| 16737 | |
| 16738 | motor_Y.JD_Error = tmp; |
| 16739 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16740 | if (tmp_0 < 2.147483648E+9) { |
| 16741 | if (tmp_0 >= -2.147483648E+9) { |
| 16742 | tmp = (int32_T)tmp_0; |
| 16743 | } else { |
| 16744 | tmp = MIN_int32_T; |
| 16745 | } |
| 16746 | } else { |
| 16747 | tmp = MAX_int32_T; |
| 16748 | } |
| 16749 | |
| 16750 | motor_Y.JD_Out = tmp; |
| 16751 | } else { |
| 16752 | /* Inport: '<Root>/JD_In' */ |
| 16753 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16754 | motor_B.JD_In_f = motor_U.JD_In; |
| 16755 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16756 | |
| 16757 | /* Inport: '<Root>/System_Order' */ |
| 16758 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16759 | |
| 16760 | /* Inport: '<Root>/Encode_Sp' */ |
| 16761 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16762 | |
| 16763 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16764 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16765 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16766 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16767 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16768 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16769 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16770 | &motor_DWork.chu_jd); |
| 16771 | |
| 16772 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16773 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16774 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16775 | if (tmp_0 < 2.147483648E+9) { |
| 16776 | if (tmp_0 >= -2.147483648E+9) { |
| 16777 | tmp = (int32_T)tmp_0; |
| 16778 | } else { |
| 16779 | tmp = MIN_int32_T; |
| 16780 | } |
| 16781 | } else { |
| 16782 | tmp = MAX_int32_T; |
| 16783 | } |
| 16784 | |
| 16785 | motor_Y.JD_Error = tmp; |
| 16786 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16787 | if (tmp_0 < 2.147483648E+9) { |
| 16788 | if (tmp_0 >= -2.147483648E+9) { |
| 16789 | tmp = (int32_T)tmp_0; |
| 16790 | } else { |
| 16791 | tmp = MIN_int32_T; |
| 16792 | } |
| 16793 | } else { |
| 16794 | tmp = MAX_int32_T; |
| 16795 | } |
| 16796 | |
| 16797 | motor_Y.JD_Out = tmp; |
| 16798 | } |
| 16799 | break; |
| 16800 | |
| 16801 | default: |
| 16802 | /* During 'Int8': '<S1>:1022' */ |
| 16803 | if (motor_DWork.chu_jd < -14.0) { |
| 16804 | /* Transition: '<S1>:1024' */ |
| 16805 | motor_DWork.is_HY_aj = motor_IN_Int1; |
| 16806 | motor_DWork.temporalCounter_i2 = 0U; |
| 16807 | |
| 16808 | /* Entry 'Int1': '<S1>:326' */ |
| 16809 | motor_DWork.chu_jd -= 0.002; |
| 16810 | |
| 16811 | /* Inport: '<Root>/JD_In' */ |
| 16812 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16813 | motor_B.JD_In_f = motor_U.JD_In; |
| 16814 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16815 | |
| 16816 | /* Inport: '<Root>/System_Order' */ |
| 16817 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16818 | |
| 16819 | /* Inport: '<Root>/Encode_Sp' */ |
| 16820 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16821 | |
| 16822 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16823 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16824 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16825 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16826 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16827 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16828 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16829 | &motor_DWork.chu_jd); |
| 16830 | |
| 16831 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16832 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16833 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16834 | if (tmp_0 < 2.147483648E+9) { |
| 16835 | if (tmp_0 >= -2.147483648E+9) { |
| 16836 | tmp = (int32_T)tmp_0; |
| 16837 | } else { |
| 16838 | tmp = MIN_int32_T; |
| 16839 | } |
| 16840 | } else { |
| 16841 | tmp = MAX_int32_T; |
| 16842 | } |
| 16843 | |
| 16844 | motor_Y.JD_Error = tmp; |
| 16845 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16846 | if (tmp_0 < 2.147483648E+9) { |
| 16847 | if (tmp_0 >= -2.147483648E+9) { |
| 16848 | tmp = (int32_T)tmp_0; |
| 16849 | } else { |
| 16850 | tmp = MIN_int32_T; |
| 16851 | } |
| 16852 | } else { |
| 16853 | tmp = MAX_int32_T; |
| 16854 | } |
| 16855 | |
| 16856 | motor_Y.JD_Out = tmp; |
| 16857 | } else if (motor_U.Down_Limit == 0) { |
| 16858 | /* Transition: '<S1>:1021' */ |
| 16859 | /* 下限位开关低电平有效 */ |
| 16860 | motor_DWork.is_HY_aj = motor_IN_Int2_i; |
| 16861 | motor_DWork.temporalCounter_i2 = 0U; |
| 16862 | |
| 16863 | /* Entry 'Int2': '<S1>:327' */ |
| 16864 | motor_DWork.chu_jd -= 0.002; |
| 16865 | |
| 16866 | /* Inport: '<Root>/JD_In' */ |
| 16867 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16868 | motor_B.JD_In_f = motor_U.JD_In; |
| 16869 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16870 | |
| 16871 | /* Inport: '<Root>/System_Order' */ |
| 16872 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16873 | |
| 16874 | /* Inport: '<Root>/Encode_Sp' */ |
| 16875 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16876 | |
| 16877 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16878 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16879 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16880 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16881 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16882 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16883 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16884 | &motor_DWork.chu_jd); |
| 16885 | |
| 16886 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16887 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16888 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16889 | if (tmp_0 < 2.147483648E+9) { |
| 16890 | if (tmp_0 >= -2.147483648E+9) { |
| 16891 | tmp = (int32_T)tmp_0; |
| 16892 | } else { |
| 16893 | tmp = MIN_int32_T; |
| 16894 | } |
| 16895 | } else { |
| 16896 | tmp = MAX_int32_T; |
| 16897 | } |
| 16898 | |
| 16899 | motor_Y.JD_Error = tmp; |
| 16900 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16901 | if (tmp_0 < 2.147483648E+9) { |
| 16902 | if (tmp_0 >= -2.147483648E+9) { |
| 16903 | tmp = (int32_T)tmp_0; |
| 16904 | } else { |
| 16905 | tmp = MIN_int32_T; |
| 16906 | } |
| 16907 | } else { |
| 16908 | tmp = MAX_int32_T; |
| 16909 | } |
| 16910 | |
| 16911 | motor_Y.JD_Out = tmp; |
| 16912 | } else { |
| 16913 | motor_DWork.chu_jd -= 0.01; |
| 16914 | |
| 16915 | /* Inport: '<Root>/JD_In' */ |
| 16916 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 16917 | motor_B.JD_In_f = motor_U.JD_In; |
| 16918 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 16919 | |
| 16920 | /* Inport: '<Root>/System_Order' */ |
| 16921 | motor_B.Slect_port_c = motor_U.System_Order; |
| 16922 | |
| 16923 | /* Inport: '<Root>/Encode_Sp' */ |
| 16924 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 16925 | |
| 16926 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 16927 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 16928 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 16929 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 16930 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 16931 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 16932 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 16933 | &motor_DWork.chu_jd); |
| 16934 | |
| 16935 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 16936 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 16937 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 16938 | if (tmp_0 < 2.147483648E+9) { |
| 16939 | if (tmp_0 >= -2.147483648E+9) { |
| 16940 | tmp = (int32_T)tmp_0; |
| 16941 | } else { |
| 16942 | tmp = MIN_int32_T; |
| 16943 | } |
| 16944 | } else { |
| 16945 | tmp = MAX_int32_T; |
| 16946 | } |
| 16947 | |
| 16948 | motor_Y.JD_Error = tmp; |
| 16949 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 16950 | if (tmp_0 < 2.147483648E+9) { |
| 16951 | if (tmp_0 >= -2.147483648E+9) { |
| 16952 | tmp = (int32_T)tmp_0; |
| 16953 | } else { |
| 16954 | tmp = MIN_int32_T; |
| 16955 | } |
| 16956 | } else { |
| 16957 | tmp = MAX_int32_T; |
| 16958 | } |
| 16959 | |
| 16960 | motor_Y.JD_Out = tmp; |
| 16961 | } |
| 16962 | break; |
| 16963 | } |
| 16964 | break; |
| 16965 | |
| 16966 | case motor_IN_XHHY_m1: |
| 16967 | /* During 'XHHY': '<S1>:332' */ |
| 16968 | switch (motor_DWork.is_XHHY_fs) { |
| 16969 | case motor_IN_Int: |
| 16970 | /* During 'Int': '<S1>:333' */ |
| 16971 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 16972 | /* Transition: '<S1>:1025' */ |
| 16973 | motor_DWork.is_XHHY_fs = motor_IN_Int8; |
| 16974 | } |
| 16975 | break; |
| 16976 | |
| 16977 | case motor_IN_Int1: |
| 16978 | /* Inport: '<Root>/Down_Limit' */ |
| 16979 | /* During 'Int1': '<S1>:334' */ |
| 16980 | if (motor_U.Down_Limit == 0) { |
| 16981 | /* Transition: '<S1>:767' */ |
| 16982 | /* 上限位开关低电平有效 */ |
| 16983 | motor_DWork.is_XHHY_fs = motor_IN_Int2_i; |
| 16984 | motor_DWork.temporalCounter_i2 = 0U; |
| 16985 | |
| 16986 | /* Entry 'Int2': '<S1>:335' */ |
| 16987 | motor_DWork.chu_jd -= 0.002; |
| 16988 | |
| 16989 | /* Inport: '<Root>/JD_In' */ |
| 16990 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 16991 | motor_B.JD_In = motor_U.JD_In; |
| 16992 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 16993 | |
| 16994 | /* Inport: '<Root>/Encode_Sp' */ |
| 16995 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 16996 | |
| 16997 | /* Inport: '<Root>/System_Order' */ |
| 16998 | motor_B.Slect_port = motor_U.System_Order; |
| 16999 | |
| 17000 | /* Inport: '<Root>/SGWY_In' */ |
| 17001 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17002 | |
| 17003 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17004 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17005 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17006 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17007 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17008 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17009 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17010 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17011 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17012 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17013 | &motor_DWork.chu_jd); |
| 17014 | |
| 17015 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17016 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17017 | if (tmp_0 < 65536.0) { |
| 17018 | if (tmp_0 >= 0.0) { |
| 17019 | tmp_1 = (uint16_T)tmp_0; |
| 17020 | } else { |
| 17021 | tmp_1 = 0U; |
| 17022 | } |
| 17023 | } else { |
| 17024 | tmp_1 = MAX_uint16_T; |
| 17025 | } |
| 17026 | |
| 17027 | motor_Y.PWMOUT = tmp_1; |
| 17028 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17029 | if (tmp_0 < 2.147483648E+9) { |
| 17030 | if (tmp_0 >= -2.147483648E+9) { |
| 17031 | tmp = (int32_T)tmp_0; |
| 17032 | } else { |
| 17033 | tmp = MIN_int32_T; |
| 17034 | } |
| 17035 | } else { |
| 17036 | tmp = MAX_int32_T; |
| 17037 | } |
| 17038 | |
| 17039 | motor_Y.JD_Out = tmp; |
| 17040 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17041 | if (tmp_0 < 2.147483648E+9) { |
| 17042 | if (tmp_0 >= -2.147483648E+9) { |
| 17043 | tmp = (int32_T)tmp_0; |
| 17044 | } else { |
| 17045 | tmp = MIN_int32_T; |
| 17046 | } |
| 17047 | } else { |
| 17048 | tmp = MAX_int32_T; |
| 17049 | } |
| 17050 | |
| 17051 | motor_Y.JD_Error = tmp; |
| 17052 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(5.0 / |
| 17053 | motor_DWork.Ts)) { |
| 17054 | /* Transition: '<S1>:1073' */ |
| 17055 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 17056 | |
| 17057 | /* 下限位开关故障$/ */ |
| 17058 | motor_DWork.is_XHHY_fs = motor_IN_Int2_i; |
| 17059 | motor_DWork.temporalCounter_i2 = 0U; |
| 17060 | |
| 17061 | /* Entry 'Int2': '<S1>:335' */ |
| 17062 | motor_DWork.chu_jd -= 0.002; |
| 17063 | |
| 17064 | /* Inport: '<Root>/JD_In' */ |
| 17065 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17066 | motor_B.JD_In = motor_U.JD_In; |
| 17067 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17068 | |
| 17069 | /* Inport: '<Root>/Encode_Sp' */ |
| 17070 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17071 | |
| 17072 | /* Inport: '<Root>/System_Order' */ |
| 17073 | motor_B.Slect_port = motor_U.System_Order; |
| 17074 | |
| 17075 | /* Inport: '<Root>/SGWY_In' */ |
| 17076 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17077 | |
| 17078 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17079 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17080 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17081 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17082 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17083 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17084 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17085 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17086 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17087 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17088 | &motor_DWork.chu_jd); |
| 17089 | |
| 17090 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17091 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17092 | if (tmp_0 < 65536.0) { |
| 17093 | if (tmp_0 >= 0.0) { |
| 17094 | tmp_1 = (uint16_T)tmp_0; |
| 17095 | } else { |
| 17096 | tmp_1 = 0U; |
| 17097 | } |
| 17098 | } else { |
| 17099 | tmp_1 = MAX_uint16_T; |
| 17100 | } |
| 17101 | |
| 17102 | motor_Y.PWMOUT = tmp_1; |
| 17103 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17104 | if (tmp_0 < 2.147483648E+9) { |
| 17105 | if (tmp_0 >= -2.147483648E+9) { |
| 17106 | tmp = (int32_T)tmp_0; |
| 17107 | } else { |
| 17108 | tmp = MIN_int32_T; |
| 17109 | } |
| 17110 | } else { |
| 17111 | tmp = MAX_int32_T; |
| 17112 | } |
| 17113 | |
| 17114 | motor_Y.JD_Out = tmp; |
| 17115 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17116 | if (tmp_0 < 2.147483648E+9) { |
| 17117 | if (tmp_0 >= -2.147483648E+9) { |
| 17118 | tmp = (int32_T)tmp_0; |
| 17119 | } else { |
| 17120 | tmp = MIN_int32_T; |
| 17121 | } |
| 17122 | } else { |
| 17123 | tmp = MAX_int32_T; |
| 17124 | } |
| 17125 | |
| 17126 | motor_Y.JD_Error = tmp; |
| 17127 | } else { |
| 17128 | motor_DWork.chu_jd -= 0.002; |
| 17129 | |
| 17130 | /* Inport: '<Root>/JD_In' */ |
| 17131 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17132 | motor_B.JD_In = motor_U.JD_In; |
| 17133 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17134 | |
| 17135 | /* Inport: '<Root>/Encode_Sp' */ |
| 17136 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17137 | |
| 17138 | /* Inport: '<Root>/System_Order' */ |
| 17139 | motor_B.Slect_port = motor_U.System_Order; |
| 17140 | |
| 17141 | /* Inport: '<Root>/SGWY_In' */ |
| 17142 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17143 | |
| 17144 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17145 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17146 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17147 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17148 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17149 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17150 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17151 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17152 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17153 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17154 | &motor_DWork.chu_jd); |
| 17155 | |
| 17156 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17157 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17158 | if (tmp_0 < 65536.0) { |
| 17159 | if (tmp_0 >= 0.0) { |
| 17160 | tmp_1 = (uint16_T)tmp_0; |
| 17161 | } else { |
| 17162 | tmp_1 = 0U; |
| 17163 | } |
| 17164 | } else { |
| 17165 | tmp_1 = MAX_uint16_T; |
| 17166 | } |
| 17167 | |
| 17168 | motor_Y.PWMOUT = tmp_1; |
| 17169 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17170 | if (tmp_0 < 2.147483648E+9) { |
| 17171 | if (tmp_0 >= -2.147483648E+9) { |
| 17172 | tmp = (int32_T)tmp_0; |
| 17173 | } else { |
| 17174 | tmp = MIN_int32_T; |
| 17175 | } |
| 17176 | } else { |
| 17177 | tmp = MAX_int32_T; |
| 17178 | } |
| 17179 | |
| 17180 | motor_Y.JD_Out = tmp; |
| 17181 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17182 | if (tmp_0 < 2.147483648E+9) { |
| 17183 | if (tmp_0 >= -2.147483648E+9) { |
| 17184 | tmp = (int32_T)tmp_0; |
| 17185 | } else { |
| 17186 | tmp = MIN_int32_T; |
| 17187 | } |
| 17188 | } else { |
| 17189 | tmp = MAX_int32_T; |
| 17190 | } |
| 17191 | |
| 17192 | motor_Y.JD_Error = tmp; |
| 17193 | } |
| 17194 | break; |
| 17195 | |
| 17196 | case motor_IN_Int2_i: |
| 17197 | /* During 'Int2': '<S1>:335' */ |
| 17198 | if (motor_DWork.temporalCounter_i2 >= 50U) { |
| 17199 | /* Transition: '<S1>:769' */ |
| 17200 | motor_DWork.is_XHHY_fs = motor_IN_Int7; |
| 17201 | motor_DWork.temporalCounter_i2 = 0U; |
| 17202 | } else { |
| 17203 | motor_DWork.chu_jd -= 0.002; |
| 17204 | |
| 17205 | /* Inport: '<Root>/JD_In' */ |
| 17206 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17207 | motor_B.JD_In = motor_U.JD_In; |
| 17208 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17209 | |
| 17210 | /* Inport: '<Root>/Encode_Sp' */ |
| 17211 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17212 | |
| 17213 | /* Inport: '<Root>/System_Order' */ |
| 17214 | motor_B.Slect_port = motor_U.System_Order; |
| 17215 | |
| 17216 | /* Inport: '<Root>/SGWY_In' */ |
| 17217 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17218 | |
| 17219 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17220 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17221 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17222 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17223 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17224 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17225 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17226 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17227 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17228 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17229 | &motor_DWork.chu_jd); |
| 17230 | |
| 17231 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17232 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17233 | if (tmp_0 < 65536.0) { |
| 17234 | if (tmp_0 >= 0.0) { |
| 17235 | tmp_1 = (uint16_T)tmp_0; |
| 17236 | } else { |
| 17237 | tmp_1 = 0U; |
| 17238 | } |
| 17239 | } else { |
| 17240 | tmp_1 = MAX_uint16_T; |
| 17241 | } |
| 17242 | |
| 17243 | motor_Y.PWMOUT = tmp_1; |
| 17244 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17245 | if (tmp_0 < 2.147483648E+9) { |
| 17246 | if (tmp_0 >= -2.147483648E+9) { |
| 17247 | tmp = (int32_T)tmp_0; |
| 17248 | } else { |
| 17249 | tmp = MIN_int32_T; |
| 17250 | } |
| 17251 | } else { |
| 17252 | tmp = MAX_int32_T; |
| 17253 | } |
| 17254 | |
| 17255 | motor_Y.JD_Out = tmp; |
| 17256 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17257 | if (tmp_0 < 2.147483648E+9) { |
| 17258 | if (tmp_0 >= -2.147483648E+9) { |
| 17259 | tmp = (int32_T)tmp_0; |
| 17260 | } else { |
| 17261 | tmp = MIN_int32_T; |
| 17262 | } |
| 17263 | } else { |
| 17264 | tmp = MAX_int32_T; |
| 17265 | } |
| 17266 | |
| 17267 | motor_Y.JD_Error = tmp; |
| 17268 | } |
| 17269 | break; |
| 17270 | |
| 17271 | case motor_IN_Int3_l: |
| 17272 | /* During 'Int3': '<S1>:336' */ |
| 17273 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 17274 | /* Transition: '<S1>:770' */ |
| 17275 | motor_DWork.is_XHHY_fs = motor_IN_Int4_b; |
| 17276 | motor_DWork.temporalCounter_i2 = 0U; |
| 17277 | |
| 17278 | /* Entry 'Int4': '<S1>:338' */ |
| 17279 | motor_DWork.chu_jd = 0.0; |
| 17280 | |
| 17281 | /* Inport: '<Root>/JD_In' */ |
| 17282 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17283 | motor_B.JD_In = motor_U.JD_In; |
| 17284 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17285 | |
| 17286 | /* Inport: '<Root>/Encode_Sp' */ |
| 17287 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17288 | |
| 17289 | /* Inport: '<Root>/System_Order' */ |
| 17290 | motor_B.Slect_port = motor_U.System_Order; |
| 17291 | |
| 17292 | /* Inport: '<Root>/SGWY_In' */ |
| 17293 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17294 | |
| 17295 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17296 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17297 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17298 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17299 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17300 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17301 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17302 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17303 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17304 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17305 | &motor_DWork.chu_jd); |
| 17306 | |
| 17307 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17308 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17309 | if (tmp_0 < 65536.0) { |
| 17310 | if (tmp_0 >= 0.0) { |
| 17311 | tmp_1 = (uint16_T)tmp_0; |
| 17312 | } else { |
| 17313 | tmp_1 = 0U; |
| 17314 | } |
| 17315 | } else { |
| 17316 | tmp_1 = MAX_uint16_T; |
| 17317 | } |
| 17318 | |
| 17319 | motor_Y.PWMOUT = tmp_1; |
| 17320 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17321 | if (tmp_0 < 2.147483648E+9) { |
| 17322 | if (tmp_0 >= -2.147483648E+9) { |
| 17323 | tmp = (int32_T)tmp_0; |
| 17324 | } else { |
| 17325 | tmp = MIN_int32_T; |
| 17326 | } |
| 17327 | } else { |
| 17328 | tmp = MAX_int32_T; |
| 17329 | } |
| 17330 | |
| 17331 | motor_Y.JD_Out = tmp; |
| 17332 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17333 | if (tmp_0 < 2.147483648E+9) { |
| 17334 | if (tmp_0 >= -2.147483648E+9) { |
| 17335 | tmp = (int32_T)tmp_0; |
| 17336 | } else { |
| 17337 | tmp = MIN_int32_T; |
| 17338 | } |
| 17339 | } else { |
| 17340 | tmp = MAX_int32_T; |
| 17341 | } |
| 17342 | |
| 17343 | motor_Y.JD_Error = tmp; |
| 17344 | } else { |
| 17345 | motor_DWork.chu_jd += 0.01; |
| 17346 | |
| 17347 | /* Inport: '<Root>/JD_In' */ |
| 17348 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17349 | motor_B.JD_In = motor_U.JD_In; |
| 17350 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17351 | |
| 17352 | /* Inport: '<Root>/Encode_Sp' */ |
| 17353 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17354 | |
| 17355 | /* Inport: '<Root>/System_Order' */ |
| 17356 | motor_B.Slect_port = motor_U.System_Order; |
| 17357 | |
| 17358 | /* Inport: '<Root>/SGWY_In' */ |
| 17359 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17360 | |
| 17361 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17362 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17363 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17364 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17365 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17366 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17367 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17368 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17369 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17370 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17371 | &motor_DWork.chu_jd); |
| 17372 | |
| 17373 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17374 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17375 | if (tmp_0 < 65536.0) { |
| 17376 | if (tmp_0 >= 0.0) { |
| 17377 | tmp_1 = (uint16_T)tmp_0; |
| 17378 | } else { |
| 17379 | tmp_1 = 0U; |
| 17380 | } |
| 17381 | } else { |
| 17382 | tmp_1 = MAX_uint16_T; |
| 17383 | } |
| 17384 | |
| 17385 | motor_Y.PWMOUT = tmp_1; |
| 17386 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17387 | if (tmp_0 < 2.147483648E+9) { |
| 17388 | if (tmp_0 >= -2.147483648E+9) { |
| 17389 | tmp = (int32_T)tmp_0; |
| 17390 | } else { |
| 17391 | tmp = MIN_int32_T; |
| 17392 | } |
| 17393 | } else { |
| 17394 | tmp = MAX_int32_T; |
| 17395 | } |
| 17396 | |
| 17397 | motor_Y.JD_Out = tmp; |
| 17398 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17399 | if (tmp_0 < 2.147483648E+9) { |
| 17400 | if (tmp_0 >= -2.147483648E+9) { |
| 17401 | tmp = (int32_T)tmp_0; |
| 17402 | } else { |
| 17403 | tmp = MIN_int32_T; |
| 17404 | } |
| 17405 | } else { |
| 17406 | tmp = MAX_int32_T; |
| 17407 | } |
| 17408 | |
| 17409 | motor_Y.JD_Error = tmp; |
| 17410 | } |
| 17411 | break; |
| 17412 | |
| 17413 | case motor_IN_Int4_b: |
| 17414 | /* During 'Int4': '<S1>:338' */ |
| 17415 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 17416 | /* Transition: '<S1>:772' */ |
| 17417 | motor_DWork.is_XHHY_fs = motor_IN_Int5_a; |
| 17418 | motor_DWork.temporalCounter_i2 = 0U; |
| 17419 | |
| 17420 | /* Entry 'Int5': '<S1>:339' */ |
| 17421 | motor_Y.Motor_En = true; |
| 17422 | |
| 17423 | /* 电机失能 */ |
| 17424 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 17425 | } else { |
| 17426 | /* Inport: '<Root>/JD_In' */ |
| 17427 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17428 | motor_B.JD_In = motor_U.JD_In; |
| 17429 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17430 | |
| 17431 | /* Inport: '<Root>/Encode_Sp' */ |
| 17432 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17433 | |
| 17434 | /* Inport: '<Root>/System_Order' */ |
| 17435 | motor_B.Slect_port = motor_U.System_Order; |
| 17436 | |
| 17437 | /* Inport: '<Root>/SGWY_In' */ |
| 17438 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17439 | |
| 17440 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17441 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17442 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17443 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17444 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17445 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17446 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17447 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17448 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17449 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17450 | &motor_DWork.chu_jd); |
| 17451 | |
| 17452 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17453 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17454 | if (tmp_0 < 65536.0) { |
| 17455 | if (tmp_0 >= 0.0) { |
| 17456 | tmp_1 = (uint16_T)tmp_0; |
| 17457 | } else { |
| 17458 | tmp_1 = 0U; |
| 17459 | } |
| 17460 | } else { |
| 17461 | tmp_1 = MAX_uint16_T; |
| 17462 | } |
| 17463 | |
| 17464 | motor_Y.PWMOUT = tmp_1; |
| 17465 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17466 | if (tmp_0 < 2.147483648E+9) { |
| 17467 | if (tmp_0 >= -2.147483648E+9) { |
| 17468 | tmp = (int32_T)tmp_0; |
| 17469 | } else { |
| 17470 | tmp = MIN_int32_T; |
| 17471 | } |
| 17472 | } else { |
| 17473 | tmp = MAX_int32_T; |
| 17474 | } |
| 17475 | |
| 17476 | motor_Y.JD_Out = tmp; |
| 17477 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17478 | if (tmp_0 < 2.147483648E+9) { |
| 17479 | if (tmp_0 >= -2.147483648E+9) { |
| 17480 | tmp = (int32_T)tmp_0; |
| 17481 | } else { |
| 17482 | tmp = MIN_int32_T; |
| 17483 | } |
| 17484 | } else { |
| 17485 | tmp = MAX_int32_T; |
| 17486 | } |
| 17487 | |
| 17488 | motor_Y.JD_Error = tmp; |
| 17489 | } |
| 17490 | break; |
| 17491 | |
| 17492 | case motor_IN_Int5_a: |
| 17493 | /* During 'Int5': '<S1>:339' */ |
| 17494 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 17495 | /* Transition: '<S1>:771' */ |
| 17496 | motor_DWork.is_XHHY_fs = motor_IN_Int6_m; |
| 17497 | |
| 17498 | /* Entry 'Int6': '<S1>:337' */ |
| 17499 | motor_Y.DCZD = true; |
| 17500 | |
| 17501 | /* 开启制动 */ |
| 17502 | } |
| 17503 | break; |
| 17504 | |
| 17505 | case motor_IN_Int6_m: |
| 17506 | /* During 'Int6': '<S1>:337' */ |
| 17507 | /* Transition: '<S1>:768' */ |
| 17508 | /* Transition: '<S1>:738' */ |
| 17509 | /* Transition: '<S1>:620' */ |
| 17510 | motor_DWork.XiaoDaShen = 0.0; |
| 17511 | motor_DWork.is_XHHY_fs = motor_IN_NO_ACTIVE_CHILD; |
| 17512 | motor_DWork.is_Limit_Down_Test_i = motor_IN_NO_ACTIVE_CHILD; |
| 17513 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 17514 | |
| 17515 | /* Entry 'Defualt': '<S1>:206' */ |
| 17516 | motor_DWork.chu_jd = 0.0; |
| 17517 | motor_DWork.KG = 0U; |
| 17518 | motor_Y.Motor_En = false; |
| 17519 | motor_Y.DCZD = false; |
| 17520 | |
| 17521 | /* 开电磁制动,低有效 */ |
| 17522 | break; |
| 17523 | |
| 17524 | case motor_IN_Int7: |
| 17525 | /* During 'Int7': '<S1>:965' */ |
| 17526 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 17527 | /* Transition: '<S1>:966' */ |
| 17528 | motor_DWork.is_XHHY_fs = motor_IN_Int3_l; |
| 17529 | |
| 17530 | /* Entry 'Int3': '<S1>:336' */ |
| 17531 | motor_DWork.chu_jd += 0.01; |
| 17532 | |
| 17533 | /* Inport: '<Root>/JD_In' */ |
| 17534 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17535 | motor_B.JD_In = motor_U.JD_In; |
| 17536 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17537 | |
| 17538 | /* Inport: '<Root>/Encode_Sp' */ |
| 17539 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17540 | |
| 17541 | /* Inport: '<Root>/System_Order' */ |
| 17542 | motor_B.Slect_port = motor_U.System_Order; |
| 17543 | |
| 17544 | /* Inport: '<Root>/SGWY_In' */ |
| 17545 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17546 | |
| 17547 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17548 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17549 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17550 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17551 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17552 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17553 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17554 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17555 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17556 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17557 | &motor_DWork.chu_jd); |
| 17558 | |
| 17559 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17560 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17561 | if (tmp_0 < 65536.0) { |
| 17562 | if (tmp_0 >= 0.0) { |
| 17563 | tmp_1 = (uint16_T)tmp_0; |
| 17564 | } else { |
| 17565 | tmp_1 = 0U; |
| 17566 | } |
| 17567 | } else { |
| 17568 | tmp_1 = MAX_uint16_T; |
| 17569 | } |
| 17570 | |
| 17571 | motor_Y.PWMOUT = tmp_1; |
| 17572 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17573 | if (tmp_0 < 2.147483648E+9) { |
| 17574 | if (tmp_0 >= -2.147483648E+9) { |
| 17575 | tmp = (int32_T)tmp_0; |
| 17576 | } else { |
| 17577 | tmp = MIN_int32_T; |
| 17578 | } |
| 17579 | } else { |
| 17580 | tmp = MAX_int32_T; |
| 17581 | } |
| 17582 | |
| 17583 | motor_Y.JD_Out = tmp; |
| 17584 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17585 | if (tmp_0 < 2.147483648E+9) { |
| 17586 | if (tmp_0 >= -2.147483648E+9) { |
| 17587 | tmp = (int32_T)tmp_0; |
| 17588 | } else { |
| 17589 | tmp = MIN_int32_T; |
| 17590 | } |
| 17591 | } else { |
| 17592 | tmp = MAX_int32_T; |
| 17593 | } |
| 17594 | |
| 17595 | motor_Y.JD_Error = tmp; |
| 17596 | } else { |
| 17597 | /* Inport: '<Root>/JD_In' */ |
| 17598 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17599 | motor_B.JD_In = motor_U.JD_In; |
| 17600 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17601 | |
| 17602 | /* Inport: '<Root>/Encode_Sp' */ |
| 17603 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17604 | |
| 17605 | /* Inport: '<Root>/System_Order' */ |
| 17606 | motor_B.Slect_port = motor_U.System_Order; |
| 17607 | |
| 17608 | /* Inport: '<Root>/SGWY_In' */ |
| 17609 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17610 | |
| 17611 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17612 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17613 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17614 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17615 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17616 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17617 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17618 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17619 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17620 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17621 | &motor_DWork.chu_jd); |
| 17622 | |
| 17623 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17624 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17625 | if (tmp_0 < 65536.0) { |
| 17626 | if (tmp_0 >= 0.0) { |
| 17627 | tmp_1 = (uint16_T)tmp_0; |
| 17628 | } else { |
| 17629 | tmp_1 = 0U; |
| 17630 | } |
| 17631 | } else { |
| 17632 | tmp_1 = MAX_uint16_T; |
| 17633 | } |
| 17634 | |
| 17635 | motor_Y.PWMOUT = tmp_1; |
| 17636 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17637 | if (tmp_0 < 2.147483648E+9) { |
| 17638 | if (tmp_0 >= -2.147483648E+9) { |
| 17639 | tmp = (int32_T)tmp_0; |
| 17640 | } else { |
| 17641 | tmp = MIN_int32_T; |
| 17642 | } |
| 17643 | } else { |
| 17644 | tmp = MAX_int32_T; |
| 17645 | } |
| 17646 | |
| 17647 | motor_Y.JD_Out = tmp; |
| 17648 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17649 | if (tmp_0 < 2.147483648E+9) { |
| 17650 | if (tmp_0 >= -2.147483648E+9) { |
| 17651 | tmp = (int32_T)tmp_0; |
| 17652 | } else { |
| 17653 | tmp = MIN_int32_T; |
| 17654 | } |
| 17655 | } else { |
| 17656 | tmp = MAX_int32_T; |
| 17657 | } |
| 17658 | |
| 17659 | motor_Y.JD_Error = tmp; |
| 17660 | } |
| 17661 | break; |
| 17662 | |
| 17663 | default: |
| 17664 | /* During 'Int8': '<S1>:1026' */ |
| 17665 | if (motor_DWork.chu_jd < -16.0) { |
| 17666 | /* Transition: '<S1>:1027' */ |
| 17667 | motor_DWork.is_XHHY_fs = motor_IN_Int1; |
| 17668 | motor_DWork.temporalCounter_i2 = 0U; |
| 17669 | |
| 17670 | /* Entry 'Int1': '<S1>:334' */ |
| 17671 | motor_DWork.chu_jd -= 0.002; |
| 17672 | |
| 17673 | /* Inport: '<Root>/JD_In' */ |
| 17674 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17675 | motor_B.JD_In = motor_U.JD_In; |
| 17676 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17677 | |
| 17678 | /* Inport: '<Root>/Encode_Sp' */ |
| 17679 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17680 | |
| 17681 | /* Inport: '<Root>/System_Order' */ |
| 17682 | motor_B.Slect_port = motor_U.System_Order; |
| 17683 | |
| 17684 | /* Inport: '<Root>/SGWY_In' */ |
| 17685 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17686 | |
| 17687 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17688 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17689 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17690 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17691 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17692 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17693 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17694 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17695 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17696 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17697 | &motor_DWork.chu_jd); |
| 17698 | |
| 17699 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17700 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17701 | if (tmp_0 < 65536.0) { |
| 17702 | if (tmp_0 >= 0.0) { |
| 17703 | tmp_1 = (uint16_T)tmp_0; |
| 17704 | } else { |
| 17705 | tmp_1 = 0U; |
| 17706 | } |
| 17707 | } else { |
| 17708 | tmp_1 = MAX_uint16_T; |
| 17709 | } |
| 17710 | |
| 17711 | motor_Y.PWMOUT = tmp_1; |
| 17712 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17713 | if (tmp_0 < 2.147483648E+9) { |
| 17714 | if (tmp_0 >= -2.147483648E+9) { |
| 17715 | tmp = (int32_T)tmp_0; |
| 17716 | } else { |
| 17717 | tmp = MIN_int32_T; |
| 17718 | } |
| 17719 | } else { |
| 17720 | tmp = MAX_int32_T; |
| 17721 | } |
| 17722 | |
| 17723 | motor_Y.JD_Out = tmp; |
| 17724 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17725 | if (tmp_0 < 2.147483648E+9) { |
| 17726 | if (tmp_0 >= -2.147483648E+9) { |
| 17727 | tmp = (int32_T)tmp_0; |
| 17728 | } else { |
| 17729 | tmp = MIN_int32_T; |
| 17730 | } |
| 17731 | } else { |
| 17732 | tmp = MAX_int32_T; |
| 17733 | } |
| 17734 | |
| 17735 | motor_Y.JD_Error = tmp; |
| 17736 | } else if (motor_U.Down_Limit == 0) { |
| 17737 | /* Transition: '<S1>:1028' */ |
| 17738 | /* 下限位开关低电平有效 */ |
| 17739 | motor_DWork.is_XHHY_fs = motor_IN_Int2_i; |
| 17740 | motor_DWork.temporalCounter_i2 = 0U; |
| 17741 | |
| 17742 | /* Entry 'Int2': '<S1>:335' */ |
| 17743 | motor_DWork.chu_jd -= 0.002; |
| 17744 | |
| 17745 | /* Inport: '<Root>/JD_In' */ |
| 17746 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17747 | motor_B.JD_In = motor_U.JD_In; |
| 17748 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17749 | |
| 17750 | /* Inport: '<Root>/Encode_Sp' */ |
| 17751 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17752 | |
| 17753 | /* Inport: '<Root>/System_Order' */ |
| 17754 | motor_B.Slect_port = motor_U.System_Order; |
| 17755 | |
| 17756 | /* Inport: '<Root>/SGWY_In' */ |
| 17757 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17758 | |
| 17759 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17760 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17761 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17762 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17763 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17764 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17765 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17766 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17767 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17768 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17769 | &motor_DWork.chu_jd); |
| 17770 | |
| 17771 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17772 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17773 | if (tmp_0 < 65536.0) { |
| 17774 | if (tmp_0 >= 0.0) { |
| 17775 | tmp_1 = (uint16_T)tmp_0; |
| 17776 | } else { |
| 17777 | tmp_1 = 0U; |
| 17778 | } |
| 17779 | } else { |
| 17780 | tmp_1 = MAX_uint16_T; |
| 17781 | } |
| 17782 | |
| 17783 | motor_Y.PWMOUT = tmp_1; |
| 17784 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17785 | if (tmp_0 < 2.147483648E+9) { |
| 17786 | if (tmp_0 >= -2.147483648E+9) { |
| 17787 | tmp = (int32_T)tmp_0; |
| 17788 | } else { |
| 17789 | tmp = MIN_int32_T; |
| 17790 | } |
| 17791 | } else { |
| 17792 | tmp = MAX_int32_T; |
| 17793 | } |
| 17794 | |
| 17795 | motor_Y.JD_Out = tmp; |
| 17796 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17797 | if (tmp_0 < 2.147483648E+9) { |
| 17798 | if (tmp_0 >= -2.147483648E+9) { |
| 17799 | tmp = (int32_T)tmp_0; |
| 17800 | } else { |
| 17801 | tmp = MIN_int32_T; |
| 17802 | } |
| 17803 | } else { |
| 17804 | tmp = MAX_int32_T; |
| 17805 | } |
| 17806 | |
| 17807 | motor_Y.JD_Error = tmp; |
| 17808 | } else { |
| 17809 | motor_DWork.chu_jd -= 0.01; |
| 17810 | |
| 17811 | /* Inport: '<Root>/JD_In' */ |
| 17812 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 17813 | motor_B.JD_In = motor_U.JD_In; |
| 17814 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 17815 | |
| 17816 | /* Inport: '<Root>/Encode_Sp' */ |
| 17817 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 17818 | |
| 17819 | /* Inport: '<Root>/System_Order' */ |
| 17820 | motor_B.Slect_port = motor_U.System_Order; |
| 17821 | |
| 17822 | /* Inport: '<Root>/SGWY_In' */ |
| 17823 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 17824 | |
| 17825 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 17826 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 17827 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 17828 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 17829 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 17830 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17831 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 17832 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 17833 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 17834 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17835 | &motor_DWork.chu_jd); |
| 17836 | |
| 17837 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 17838 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 17839 | if (tmp_0 < 65536.0) { |
| 17840 | if (tmp_0 >= 0.0) { |
| 17841 | tmp_1 = (uint16_T)tmp_0; |
| 17842 | } else { |
| 17843 | tmp_1 = 0U; |
| 17844 | } |
| 17845 | } else { |
| 17846 | tmp_1 = MAX_uint16_T; |
| 17847 | } |
| 17848 | |
| 17849 | motor_Y.PWMOUT = tmp_1; |
| 17850 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 17851 | if (tmp_0 < 2.147483648E+9) { |
| 17852 | if (tmp_0 >= -2.147483648E+9) { |
| 17853 | tmp = (int32_T)tmp_0; |
| 17854 | } else { |
| 17855 | tmp = MIN_int32_T; |
| 17856 | } |
| 17857 | } else { |
| 17858 | tmp = MAX_int32_T; |
| 17859 | } |
| 17860 | |
| 17861 | motor_Y.JD_Out = tmp; |
| 17862 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 17863 | if (tmp_0 < 2.147483648E+9) { |
| 17864 | if (tmp_0 >= -2.147483648E+9) { |
| 17865 | tmp = (int32_T)tmp_0; |
| 17866 | } else { |
| 17867 | tmp = MIN_int32_T; |
| 17868 | } |
| 17869 | } else { |
| 17870 | tmp = MAX_int32_T; |
| 17871 | } |
| 17872 | |
| 17873 | motor_Y.JD_Error = tmp; |
| 17874 | } |
| 17875 | break; |
| 17876 | } |
| 17877 | break; |
| 17878 | |
| 17879 | default: |
| 17880 | motor_XHZY_asn(); |
| 17881 | break; |
| 17882 | } |
| 17883 | } |
| 17884 | |
| 17885 | /* Function for Chart: '<Root>/Chart' */ |
| 17886 | static void motor_XHZY_asnq(void) |
| 17887 | { |
| 17888 | int32_T tmp; |
| 17889 | uint16_T tmp_0; |
| 17890 | real_T tmp_1; |
| 17891 | |
| 17892 | /* During 'XHZY': '<S1>:341' */ |
| 17893 | switch (motor_DWork.is_XHZY_d) { |
| 17894 | case motor_IN_Int: |
| 17895 | /* During 'Int': '<S1>:342' */ |
| 17896 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 17897 | /* Transition: '<S1>:1005' */ |
| 17898 | motor_DWork.is_XHZY_d = motor_IN_Int8; |
| 17899 | } |
| 17900 | break; |
| 17901 | |
| 17902 | case motor_IN_Int1: |
| 17903 | /* Inport: '<Root>/Up_Limit' */ |
| 17904 | /* During 'Int1': '<S1>:343' */ |
| 17905 | if (motor_U.Up_Limit == 0) { |
| 17906 | /* Transition: '<S1>:786' */ |
| 17907 | /* 上限位开关低电平有效 */ |
| 17908 | motor_DWork.is_XHZY_d = motor_IN_Int2_i; |
| 17909 | motor_DWork.temporalCounter_i2 = 0U; |
| 17910 | |
| 17911 | /* Entry 'Int2': '<S1>:344' */ |
| 17912 | motor_DWork.chu_jd += 0.002; |
| 17913 | |
| 17914 | /* Inport: '<Root>/JD_In' */ |
| 17915 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 17916 | motor_B.JD_In_d = motor_U.JD_In; |
| 17917 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 17918 | |
| 17919 | /* Inport: '<Root>/YJ_In' */ |
| 17920 | motor_B.YJ_In = motor_U.YJ_In; |
| 17921 | |
| 17922 | /* Inport: '<Root>/Encode_Sp' */ |
| 17923 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 17924 | |
| 17925 | /* Inport: '<Root>/System_Order' */ |
| 17926 | motor_B.Slect_port_h = motor_U.System_Order; |
| 17927 | |
| 17928 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 17929 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 17930 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 17931 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 17932 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 17933 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 17934 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 17935 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 17936 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 17937 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 17938 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 17939 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 17940 | &motor_DWork.chu_jd); |
| 17941 | |
| 17942 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 17943 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 17944 | if (tmp_1 < 65536.0) { |
| 17945 | if (tmp_1 >= 0.0) { |
| 17946 | tmp_0 = (uint16_T)tmp_1; |
| 17947 | } else { |
| 17948 | tmp_0 = 0U; |
| 17949 | } |
| 17950 | } else { |
| 17951 | tmp_0 = MAX_uint16_T; |
| 17952 | } |
| 17953 | |
| 17954 | motor_Y.PWMOUT = tmp_0; |
| 17955 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 17956 | if (tmp_1 < 2.147483648E+9) { |
| 17957 | if (tmp_1 >= -2.147483648E+9) { |
| 17958 | tmp = (int32_T)tmp_1; |
| 17959 | } else { |
| 17960 | tmp = MIN_int32_T; |
| 17961 | } |
| 17962 | } else { |
| 17963 | tmp = MAX_int32_T; |
| 17964 | } |
| 17965 | |
| 17966 | motor_Y.JD_Out = tmp; |
| 17967 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 17968 | if (tmp_1 < 2.147483648E+9) { |
| 17969 | if (tmp_1 >= -2.147483648E+9) { |
| 17970 | tmp = (int32_T)tmp_1; |
| 17971 | } else { |
| 17972 | tmp = MIN_int32_T; |
| 17973 | } |
| 17974 | } else { |
| 17975 | tmp = MAX_int32_T; |
| 17976 | } |
| 17977 | |
| 17978 | motor_Y.JD_Error = tmp; |
| 17979 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 17980 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(5.0 / motor_DWork.Ts)) |
| 17981 | { |
| 17982 | /* Transition: '<S1>:1042' */ |
| 17983 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 17984 | |
| 17985 | /* 上限位开关故障$/ */ |
| 17986 | motor_DWork.is_XHZY_d = motor_IN_Int2_i; |
| 17987 | motor_DWork.temporalCounter_i2 = 0U; |
| 17988 | |
| 17989 | /* Entry 'Int2': '<S1>:344' */ |
| 17990 | motor_DWork.chu_jd += 0.002; |
| 17991 | |
| 17992 | /* Inport: '<Root>/JD_In' */ |
| 17993 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 17994 | motor_B.JD_In_d = motor_U.JD_In; |
| 17995 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 17996 | |
| 17997 | /* Inport: '<Root>/YJ_In' */ |
| 17998 | motor_B.YJ_In = motor_U.YJ_In; |
| 17999 | |
| 18000 | /* Inport: '<Root>/Encode_Sp' */ |
| 18001 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18002 | |
| 18003 | /* Inport: '<Root>/System_Order' */ |
| 18004 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18005 | |
| 18006 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18007 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18008 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18009 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18010 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18011 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18012 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18013 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18014 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18015 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18016 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18017 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18018 | &motor_DWork.chu_jd); |
| 18019 | |
| 18020 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18021 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18022 | if (tmp_1 < 65536.0) { |
| 18023 | if (tmp_1 >= 0.0) { |
| 18024 | tmp_0 = (uint16_T)tmp_1; |
| 18025 | } else { |
| 18026 | tmp_0 = 0U; |
| 18027 | } |
| 18028 | } else { |
| 18029 | tmp_0 = MAX_uint16_T; |
| 18030 | } |
| 18031 | |
| 18032 | motor_Y.PWMOUT = tmp_0; |
| 18033 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18034 | if (tmp_1 < 2.147483648E+9) { |
| 18035 | if (tmp_1 >= -2.147483648E+9) { |
| 18036 | tmp = (int32_T)tmp_1; |
| 18037 | } else { |
| 18038 | tmp = MIN_int32_T; |
| 18039 | } |
| 18040 | } else { |
| 18041 | tmp = MAX_int32_T; |
| 18042 | } |
| 18043 | |
| 18044 | motor_Y.JD_Out = tmp; |
| 18045 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18046 | if (tmp_1 < 2.147483648E+9) { |
| 18047 | if (tmp_1 >= -2.147483648E+9) { |
| 18048 | tmp = (int32_T)tmp_1; |
| 18049 | } else { |
| 18050 | tmp = MIN_int32_T; |
| 18051 | } |
| 18052 | } else { |
| 18053 | tmp = MAX_int32_T; |
| 18054 | } |
| 18055 | |
| 18056 | motor_Y.JD_Error = tmp; |
| 18057 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18058 | } else { |
| 18059 | motor_DWork.chu_jd += 0.002; |
| 18060 | |
| 18061 | /* Inport: '<Root>/JD_In' */ |
| 18062 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18063 | motor_B.JD_In_d = motor_U.JD_In; |
| 18064 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18065 | |
| 18066 | /* Inport: '<Root>/YJ_In' */ |
| 18067 | motor_B.YJ_In = motor_U.YJ_In; |
| 18068 | |
| 18069 | /* Inport: '<Root>/Encode_Sp' */ |
| 18070 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18071 | |
| 18072 | /* Inport: '<Root>/System_Order' */ |
| 18073 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18074 | |
| 18075 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18076 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18077 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18078 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18079 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18080 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18081 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18082 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18083 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18084 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18085 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18086 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18087 | &motor_DWork.chu_jd); |
| 18088 | |
| 18089 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18090 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18091 | if (tmp_1 < 65536.0) { |
| 18092 | if (tmp_1 >= 0.0) { |
| 18093 | tmp_0 = (uint16_T)tmp_1; |
| 18094 | } else { |
| 18095 | tmp_0 = 0U; |
| 18096 | } |
| 18097 | } else { |
| 18098 | tmp_0 = MAX_uint16_T; |
| 18099 | } |
| 18100 | |
| 18101 | motor_Y.PWMOUT = tmp_0; |
| 18102 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18103 | if (tmp_1 < 2.147483648E+9) { |
| 18104 | if (tmp_1 >= -2.147483648E+9) { |
| 18105 | tmp = (int32_T)tmp_1; |
| 18106 | } else { |
| 18107 | tmp = MIN_int32_T; |
| 18108 | } |
| 18109 | } else { |
| 18110 | tmp = MAX_int32_T; |
| 18111 | } |
| 18112 | |
| 18113 | motor_Y.JD_Out = tmp; |
| 18114 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18115 | if (tmp_1 < 2.147483648E+9) { |
| 18116 | if (tmp_1 >= -2.147483648E+9) { |
| 18117 | tmp = (int32_T)tmp_1; |
| 18118 | } else { |
| 18119 | tmp = MIN_int32_T; |
| 18120 | } |
| 18121 | } else { |
| 18122 | tmp = MAX_int32_T; |
| 18123 | } |
| 18124 | |
| 18125 | motor_Y.JD_Error = tmp; |
| 18126 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18127 | } |
| 18128 | |
| 18129 | /* End of Inport: '<Root>/Up_Limit' */ |
| 18130 | break; |
| 18131 | |
| 18132 | case motor_IN_Int2_i: |
| 18133 | /* During 'Int2': '<S1>:344' */ |
| 18134 | if (motor_DWork.temporalCounter_i2 >= 50U) { |
| 18135 | /* Transition: '<S1>:788' */ |
| 18136 | motor_DWork.is_XHZY_d = motor_IN_Int7; |
| 18137 | motor_DWork.temporalCounter_i2 = 0U; |
| 18138 | } else { |
| 18139 | motor_DWork.chu_jd += 0.002; |
| 18140 | |
| 18141 | /* Inport: '<Root>/JD_In' */ |
| 18142 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18143 | motor_B.JD_In_d = motor_U.JD_In; |
| 18144 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18145 | |
| 18146 | /* Inport: '<Root>/YJ_In' */ |
| 18147 | motor_B.YJ_In = motor_U.YJ_In; |
| 18148 | |
| 18149 | /* Inport: '<Root>/Encode_Sp' */ |
| 18150 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18151 | |
| 18152 | /* Inport: '<Root>/System_Order' */ |
| 18153 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18154 | |
| 18155 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18156 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18157 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18158 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18159 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18160 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18161 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18162 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18163 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18164 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18165 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18166 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18167 | &motor_DWork.chu_jd); |
| 18168 | |
| 18169 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18170 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18171 | if (tmp_1 < 65536.0) { |
| 18172 | if (tmp_1 >= 0.0) { |
| 18173 | tmp_0 = (uint16_T)tmp_1; |
| 18174 | } else { |
| 18175 | tmp_0 = 0U; |
| 18176 | } |
| 18177 | } else { |
| 18178 | tmp_0 = MAX_uint16_T; |
| 18179 | } |
| 18180 | |
| 18181 | motor_Y.PWMOUT = tmp_0; |
| 18182 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18183 | if (tmp_1 < 2.147483648E+9) { |
| 18184 | if (tmp_1 >= -2.147483648E+9) { |
| 18185 | tmp = (int32_T)tmp_1; |
| 18186 | } else { |
| 18187 | tmp = MIN_int32_T; |
| 18188 | } |
| 18189 | } else { |
| 18190 | tmp = MAX_int32_T; |
| 18191 | } |
| 18192 | |
| 18193 | motor_Y.JD_Out = tmp; |
| 18194 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18195 | if (tmp_1 < 2.147483648E+9) { |
| 18196 | if (tmp_1 >= -2.147483648E+9) { |
| 18197 | tmp = (int32_T)tmp_1; |
| 18198 | } else { |
| 18199 | tmp = MIN_int32_T; |
| 18200 | } |
| 18201 | } else { |
| 18202 | tmp = MAX_int32_T; |
| 18203 | } |
| 18204 | |
| 18205 | motor_Y.JD_Error = tmp; |
| 18206 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18207 | } |
| 18208 | break; |
| 18209 | |
| 18210 | case motor_IN_Int3_l: |
| 18211 | /* During 'Int3': '<S1>:345' */ |
| 18212 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 18213 | /* Transition: '<S1>:789' */ |
| 18214 | motor_DWork.is_XHZY_d = motor_IN_Int4_b; |
| 18215 | motor_DWork.temporalCounter_i2 = 0U; |
| 18216 | |
| 18217 | /* Entry 'Int4': '<S1>:347' */ |
| 18218 | motor_DWork.chu_jd = 0.0; |
| 18219 | |
| 18220 | /* Inport: '<Root>/JD_In' */ |
| 18221 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18222 | motor_B.JD_In_d = motor_U.JD_In; |
| 18223 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18224 | |
| 18225 | /* Inport: '<Root>/YJ_In' */ |
| 18226 | motor_B.YJ_In = motor_U.YJ_In; |
| 18227 | |
| 18228 | /* Inport: '<Root>/Encode_Sp' */ |
| 18229 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18230 | |
| 18231 | /* Inport: '<Root>/System_Order' */ |
| 18232 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18233 | |
| 18234 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18235 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18236 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18237 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18238 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18239 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18240 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18241 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18242 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18243 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18244 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18245 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18246 | &motor_DWork.chu_jd); |
| 18247 | |
| 18248 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18249 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18250 | if (tmp_1 < 65536.0) { |
| 18251 | if (tmp_1 >= 0.0) { |
| 18252 | tmp_0 = (uint16_T)tmp_1; |
| 18253 | } else { |
| 18254 | tmp_0 = 0U; |
| 18255 | } |
| 18256 | } else { |
| 18257 | tmp_0 = MAX_uint16_T; |
| 18258 | } |
| 18259 | |
| 18260 | motor_Y.PWMOUT = tmp_0; |
| 18261 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18262 | if (tmp_1 < 2.147483648E+9) { |
| 18263 | if (tmp_1 >= -2.147483648E+9) { |
| 18264 | tmp = (int32_T)tmp_1; |
| 18265 | } else { |
| 18266 | tmp = MIN_int32_T; |
| 18267 | } |
| 18268 | } else { |
| 18269 | tmp = MAX_int32_T; |
| 18270 | } |
| 18271 | |
| 18272 | motor_Y.JD_Out = tmp; |
| 18273 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18274 | if (tmp_1 < 2.147483648E+9) { |
| 18275 | if (tmp_1 >= -2.147483648E+9) { |
| 18276 | tmp = (int32_T)tmp_1; |
| 18277 | } else { |
| 18278 | tmp = MIN_int32_T; |
| 18279 | } |
| 18280 | } else { |
| 18281 | tmp = MAX_int32_T; |
| 18282 | } |
| 18283 | |
| 18284 | motor_Y.JD_Error = tmp; |
| 18285 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18286 | } else { |
| 18287 | motor_DWork.chu_jd -= 0.01; |
| 18288 | |
| 18289 | /* Inport: '<Root>/JD_In' */ |
| 18290 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18291 | motor_B.JD_In_d = motor_U.JD_In; |
| 18292 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18293 | |
| 18294 | /* Inport: '<Root>/YJ_In' */ |
| 18295 | motor_B.YJ_In = motor_U.YJ_In; |
| 18296 | |
| 18297 | /* Inport: '<Root>/Encode_Sp' */ |
| 18298 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18299 | |
| 18300 | /* Inport: '<Root>/System_Order' */ |
| 18301 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18302 | |
| 18303 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18304 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18305 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18306 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18307 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18308 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18309 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18310 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18311 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18312 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18313 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18314 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18315 | &motor_DWork.chu_jd); |
| 18316 | |
| 18317 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18318 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18319 | if (tmp_1 < 65536.0) { |
| 18320 | if (tmp_1 >= 0.0) { |
| 18321 | tmp_0 = (uint16_T)tmp_1; |
| 18322 | } else { |
| 18323 | tmp_0 = 0U; |
| 18324 | } |
| 18325 | } else { |
| 18326 | tmp_0 = MAX_uint16_T; |
| 18327 | } |
| 18328 | |
| 18329 | motor_Y.PWMOUT = tmp_0; |
| 18330 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18331 | if (tmp_1 < 2.147483648E+9) { |
| 18332 | if (tmp_1 >= -2.147483648E+9) { |
| 18333 | tmp = (int32_T)tmp_1; |
| 18334 | } else { |
| 18335 | tmp = MIN_int32_T; |
| 18336 | } |
| 18337 | } else { |
| 18338 | tmp = MAX_int32_T; |
| 18339 | } |
| 18340 | |
| 18341 | motor_Y.JD_Out = tmp; |
| 18342 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18343 | if (tmp_1 < 2.147483648E+9) { |
| 18344 | if (tmp_1 >= -2.147483648E+9) { |
| 18345 | tmp = (int32_T)tmp_1; |
| 18346 | } else { |
| 18347 | tmp = MIN_int32_T; |
| 18348 | } |
| 18349 | } else { |
| 18350 | tmp = MAX_int32_T; |
| 18351 | } |
| 18352 | |
| 18353 | motor_Y.JD_Error = tmp; |
| 18354 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18355 | } |
| 18356 | break; |
| 18357 | |
| 18358 | case motor_IN_Int4_b: |
| 18359 | /* During 'Int4': '<S1>:347' */ |
| 18360 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 18361 | /* Transition: '<S1>:791' */ |
| 18362 | motor_DWork.is_XHZY_d = motor_IN_Int5_a; |
| 18363 | motor_DWork.temporalCounter_i2 = 0U; |
| 18364 | |
| 18365 | /* Entry 'Int5': '<S1>:348' */ |
| 18366 | motor_Y.Motor_En = true; |
| 18367 | |
| 18368 | /* 电机失能 */ |
| 18369 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 18370 | } else { |
| 18371 | /* Inport: '<Root>/JD_In' */ |
| 18372 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18373 | motor_B.JD_In_d = motor_U.JD_In; |
| 18374 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18375 | |
| 18376 | /* Inport: '<Root>/YJ_In' */ |
| 18377 | motor_B.YJ_In = motor_U.YJ_In; |
| 18378 | |
| 18379 | /* Inport: '<Root>/Encode_Sp' */ |
| 18380 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18381 | |
| 18382 | /* Inport: '<Root>/System_Order' */ |
| 18383 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18384 | |
| 18385 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18386 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18387 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18388 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18389 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18390 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18391 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18392 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18393 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18394 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18395 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18396 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18397 | &motor_DWork.chu_jd); |
| 18398 | |
| 18399 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18400 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18401 | if (tmp_1 < 65536.0) { |
| 18402 | if (tmp_1 >= 0.0) { |
| 18403 | tmp_0 = (uint16_T)tmp_1; |
| 18404 | } else { |
| 18405 | tmp_0 = 0U; |
| 18406 | } |
| 18407 | } else { |
| 18408 | tmp_0 = MAX_uint16_T; |
| 18409 | } |
| 18410 | |
| 18411 | motor_Y.PWMOUT = tmp_0; |
| 18412 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18413 | if (tmp_1 < 2.147483648E+9) { |
| 18414 | if (tmp_1 >= -2.147483648E+9) { |
| 18415 | tmp = (int32_T)tmp_1; |
| 18416 | } else { |
| 18417 | tmp = MIN_int32_T; |
| 18418 | } |
| 18419 | } else { |
| 18420 | tmp = MAX_int32_T; |
| 18421 | } |
| 18422 | |
| 18423 | motor_Y.JD_Out = tmp; |
| 18424 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18425 | if (tmp_1 < 2.147483648E+9) { |
| 18426 | if (tmp_1 >= -2.147483648E+9) { |
| 18427 | tmp = (int32_T)tmp_1; |
| 18428 | } else { |
| 18429 | tmp = MIN_int32_T; |
| 18430 | } |
| 18431 | } else { |
| 18432 | tmp = MAX_int32_T; |
| 18433 | } |
| 18434 | |
| 18435 | motor_Y.JD_Error = tmp; |
| 18436 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18437 | } |
| 18438 | break; |
| 18439 | |
| 18440 | case motor_IN_Int5_a: |
| 18441 | /* During 'Int5': '<S1>:348' */ |
| 18442 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 18443 | /* Transition: '<S1>:790' */ |
| 18444 | motor_DWork.is_XHZY_d = motor_IN_Int6_m; |
| 18445 | |
| 18446 | /* Entry 'Int6': '<S1>:346' */ |
| 18447 | motor_Y.DCZD = true; |
| 18448 | |
| 18449 | /* 开启制动 */ |
| 18450 | } |
| 18451 | break; |
| 18452 | |
| 18453 | case motor_IN_Int6_m: |
| 18454 | /* During 'Int6': '<S1>:346' */ |
| 18455 | /* Transition: '<S1>:787' */ |
| 18456 | /* Transition: '<S1>:773' */ |
| 18457 | /* Transition: '<S1>:620' */ |
| 18458 | motor_DWork.XiaoDaShen = 0.0; |
| 18459 | motor_DWork.is_XHZY_d = motor_IN_NO_ACTIVE_CHILD; |
| 18460 | motor_DWork.is_Limit_Up_Test_j = motor_IN_NO_ACTIVE_CHILD; |
| 18461 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 18462 | |
| 18463 | /* Entry 'Defualt': '<S1>:206' */ |
| 18464 | motor_DWork.chu_jd = 0.0; |
| 18465 | motor_DWork.KG = 0U; |
| 18466 | motor_Y.Motor_En = false; |
| 18467 | motor_Y.DCZD = false; |
| 18468 | |
| 18469 | /* 开电磁制动,低有效 */ |
| 18470 | break; |
| 18471 | |
| 18472 | case motor_IN_Int7: |
| 18473 | /* During 'Int7': '<S1>:955' */ |
| 18474 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 18475 | /* Transition: '<S1>:956' */ |
| 18476 | motor_DWork.is_XHZY_d = motor_IN_Int3_l; |
| 18477 | |
| 18478 | /* Entry 'Int3': '<S1>:345' */ |
| 18479 | motor_DWork.chu_jd -= 0.01; |
| 18480 | |
| 18481 | /* Inport: '<Root>/JD_In' */ |
| 18482 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18483 | motor_B.JD_In_d = motor_U.JD_In; |
| 18484 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18485 | |
| 18486 | /* Inport: '<Root>/YJ_In' */ |
| 18487 | motor_B.YJ_In = motor_U.YJ_In; |
| 18488 | |
| 18489 | /* Inport: '<Root>/Encode_Sp' */ |
| 18490 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18491 | |
| 18492 | /* Inport: '<Root>/System_Order' */ |
| 18493 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18494 | |
| 18495 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18496 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18497 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18498 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18499 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18500 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18501 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18502 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18503 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18504 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18505 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18506 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18507 | &motor_DWork.chu_jd); |
| 18508 | |
| 18509 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18510 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18511 | if (tmp_1 < 65536.0) { |
| 18512 | if (tmp_1 >= 0.0) { |
| 18513 | tmp_0 = (uint16_T)tmp_1; |
| 18514 | } else { |
| 18515 | tmp_0 = 0U; |
| 18516 | } |
| 18517 | } else { |
| 18518 | tmp_0 = MAX_uint16_T; |
| 18519 | } |
| 18520 | |
| 18521 | motor_Y.PWMOUT = tmp_0; |
| 18522 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18523 | if (tmp_1 < 2.147483648E+9) { |
| 18524 | if (tmp_1 >= -2.147483648E+9) { |
| 18525 | tmp = (int32_T)tmp_1; |
| 18526 | } else { |
| 18527 | tmp = MIN_int32_T; |
| 18528 | } |
| 18529 | } else { |
| 18530 | tmp = MAX_int32_T; |
| 18531 | } |
| 18532 | |
| 18533 | motor_Y.JD_Out = tmp; |
| 18534 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18535 | if (tmp_1 < 2.147483648E+9) { |
| 18536 | if (tmp_1 >= -2.147483648E+9) { |
| 18537 | tmp = (int32_T)tmp_1; |
| 18538 | } else { |
| 18539 | tmp = MIN_int32_T; |
| 18540 | } |
| 18541 | } else { |
| 18542 | tmp = MAX_int32_T; |
| 18543 | } |
| 18544 | |
| 18545 | motor_Y.JD_Error = tmp; |
| 18546 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18547 | } else { |
| 18548 | /* Inport: '<Root>/JD_In' */ |
| 18549 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18550 | motor_B.JD_In_d = motor_U.JD_In; |
| 18551 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18552 | |
| 18553 | /* Inport: '<Root>/YJ_In' */ |
| 18554 | motor_B.YJ_In = motor_U.YJ_In; |
| 18555 | |
| 18556 | /* Inport: '<Root>/Encode_Sp' */ |
| 18557 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18558 | |
| 18559 | /* Inport: '<Root>/System_Order' */ |
| 18560 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18561 | |
| 18562 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18563 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18564 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18565 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18566 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18567 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18568 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18569 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18570 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18571 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18572 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18573 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18574 | &motor_DWork.chu_jd); |
| 18575 | |
| 18576 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18577 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18578 | if (tmp_1 < 65536.0) { |
| 18579 | if (tmp_1 >= 0.0) { |
| 18580 | tmp_0 = (uint16_T)tmp_1; |
| 18581 | } else { |
| 18582 | tmp_0 = 0U; |
| 18583 | } |
| 18584 | } else { |
| 18585 | tmp_0 = MAX_uint16_T; |
| 18586 | } |
| 18587 | |
| 18588 | motor_Y.PWMOUT = tmp_0; |
| 18589 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18590 | if (tmp_1 < 2.147483648E+9) { |
| 18591 | if (tmp_1 >= -2.147483648E+9) { |
| 18592 | tmp = (int32_T)tmp_1; |
| 18593 | } else { |
| 18594 | tmp = MIN_int32_T; |
| 18595 | } |
| 18596 | } else { |
| 18597 | tmp = MAX_int32_T; |
| 18598 | } |
| 18599 | |
| 18600 | motor_Y.JD_Out = tmp; |
| 18601 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18602 | if (tmp_1 < 2.147483648E+9) { |
| 18603 | if (tmp_1 >= -2.147483648E+9) { |
| 18604 | tmp = (int32_T)tmp_1; |
| 18605 | } else { |
| 18606 | tmp = MIN_int32_T; |
| 18607 | } |
| 18608 | } else { |
| 18609 | tmp = MAX_int32_T; |
| 18610 | } |
| 18611 | |
| 18612 | motor_Y.JD_Error = tmp; |
| 18613 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18614 | } |
| 18615 | break; |
| 18616 | |
| 18617 | default: |
| 18618 | /* During 'Int8': '<S1>:1007' */ |
| 18619 | if (motor_DWork.chu_jd > 16.0) { |
| 18620 | /* Transition: '<S1>:1008' */ |
| 18621 | motor_DWork.is_XHZY_d = motor_IN_Int1; |
| 18622 | motor_DWork.temporalCounter_i2 = 0U; |
| 18623 | |
| 18624 | /* Entry 'Int1': '<S1>:343' */ |
| 18625 | motor_DWork.chu_jd += 0.002; |
| 18626 | |
| 18627 | /* Inport: '<Root>/JD_In' */ |
| 18628 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18629 | motor_B.JD_In_d = motor_U.JD_In; |
| 18630 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18631 | |
| 18632 | /* Inport: '<Root>/YJ_In' */ |
| 18633 | motor_B.YJ_In = motor_U.YJ_In; |
| 18634 | |
| 18635 | /* Inport: '<Root>/Encode_Sp' */ |
| 18636 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18637 | |
| 18638 | /* Inport: '<Root>/System_Order' */ |
| 18639 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18640 | |
| 18641 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18642 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18643 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18644 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18645 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18646 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18647 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18648 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18649 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18650 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18651 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18652 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18653 | &motor_DWork.chu_jd); |
| 18654 | |
| 18655 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18656 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18657 | if (tmp_1 < 65536.0) { |
| 18658 | if (tmp_1 >= 0.0) { |
| 18659 | tmp_0 = (uint16_T)tmp_1; |
| 18660 | } else { |
| 18661 | tmp_0 = 0U; |
| 18662 | } |
| 18663 | } else { |
| 18664 | tmp_0 = MAX_uint16_T; |
| 18665 | } |
| 18666 | |
| 18667 | motor_Y.PWMOUT = tmp_0; |
| 18668 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18669 | if (tmp_1 < 2.147483648E+9) { |
| 18670 | if (tmp_1 >= -2.147483648E+9) { |
| 18671 | tmp = (int32_T)tmp_1; |
| 18672 | } else { |
| 18673 | tmp = MIN_int32_T; |
| 18674 | } |
| 18675 | } else { |
| 18676 | tmp = MAX_int32_T; |
| 18677 | } |
| 18678 | |
| 18679 | motor_Y.JD_Out = tmp; |
| 18680 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18681 | if (tmp_1 < 2.147483648E+9) { |
| 18682 | if (tmp_1 >= -2.147483648E+9) { |
| 18683 | tmp = (int32_T)tmp_1; |
| 18684 | } else { |
| 18685 | tmp = MIN_int32_T; |
| 18686 | } |
| 18687 | } else { |
| 18688 | tmp = MAX_int32_T; |
| 18689 | } |
| 18690 | |
| 18691 | motor_Y.JD_Error = tmp; |
| 18692 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18693 | } else if (motor_U.Up_Limit == 0) { |
| 18694 | /* Transition: '<S1>:1006' */ |
| 18695 | /* 上限位开关低电平有效 */ |
| 18696 | motor_DWork.is_XHZY_d = motor_IN_Int2_i; |
| 18697 | motor_DWork.temporalCounter_i2 = 0U; |
| 18698 | |
| 18699 | /* Entry 'Int2': '<S1>:344' */ |
| 18700 | motor_DWork.chu_jd += 0.002; |
| 18701 | |
| 18702 | /* Inport: '<Root>/JD_In' */ |
| 18703 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18704 | motor_B.JD_In_d = motor_U.JD_In; |
| 18705 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18706 | |
| 18707 | /* Inport: '<Root>/YJ_In' */ |
| 18708 | motor_B.YJ_In = motor_U.YJ_In; |
| 18709 | |
| 18710 | /* Inport: '<Root>/Encode_Sp' */ |
| 18711 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18712 | |
| 18713 | /* Inport: '<Root>/System_Order' */ |
| 18714 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18715 | |
| 18716 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18717 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18718 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18719 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18720 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18721 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18722 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18723 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18724 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18725 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18726 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18727 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18728 | &motor_DWork.chu_jd); |
| 18729 | |
| 18730 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18731 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18732 | if (tmp_1 < 65536.0) { |
| 18733 | if (tmp_1 >= 0.0) { |
| 18734 | tmp_0 = (uint16_T)tmp_1; |
| 18735 | } else { |
| 18736 | tmp_0 = 0U; |
| 18737 | } |
| 18738 | } else { |
| 18739 | tmp_0 = MAX_uint16_T; |
| 18740 | } |
| 18741 | |
| 18742 | motor_Y.PWMOUT = tmp_0; |
| 18743 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18744 | if (tmp_1 < 2.147483648E+9) { |
| 18745 | if (tmp_1 >= -2.147483648E+9) { |
| 18746 | tmp = (int32_T)tmp_1; |
| 18747 | } else { |
| 18748 | tmp = MIN_int32_T; |
| 18749 | } |
| 18750 | } else { |
| 18751 | tmp = MAX_int32_T; |
| 18752 | } |
| 18753 | |
| 18754 | motor_Y.JD_Out = tmp; |
| 18755 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18756 | if (tmp_1 < 2.147483648E+9) { |
| 18757 | if (tmp_1 >= -2.147483648E+9) { |
| 18758 | tmp = (int32_T)tmp_1; |
| 18759 | } else { |
| 18760 | tmp = MIN_int32_T; |
| 18761 | } |
| 18762 | } else { |
| 18763 | tmp = MAX_int32_T; |
| 18764 | } |
| 18765 | |
| 18766 | motor_Y.JD_Error = tmp; |
| 18767 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18768 | } else { |
| 18769 | motor_DWork.chu_jd += 0.01; |
| 18770 | |
| 18771 | /* Inport: '<Root>/JD_In' */ |
| 18772 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 18773 | motor_B.JD_In_d = motor_U.JD_In; |
| 18774 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 18775 | |
| 18776 | /* Inport: '<Root>/YJ_In' */ |
| 18777 | motor_B.YJ_In = motor_U.YJ_In; |
| 18778 | |
| 18779 | /* Inport: '<Root>/Encode_Sp' */ |
| 18780 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 18781 | |
| 18782 | /* Inport: '<Root>/System_Order' */ |
| 18783 | motor_B.Slect_port_h = motor_U.System_Order; |
| 18784 | |
| 18785 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 18786 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 18787 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 18788 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 18789 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 18790 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 18791 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 18792 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 18793 | &motor_DWork.KG_En, &motor_DWork.KG_JD, |
| 18794 | &motor_DWork.KG_YJ, &motor_DWork.KG_clc, |
| 18795 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 18796 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 18797 | &motor_DWork.chu_jd); |
| 18798 | |
| 18799 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 18800 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 18801 | if (tmp_1 < 65536.0) { |
| 18802 | if (tmp_1 >= 0.0) { |
| 18803 | tmp_0 = (uint16_T)tmp_1; |
| 18804 | } else { |
| 18805 | tmp_0 = 0U; |
| 18806 | } |
| 18807 | } else { |
| 18808 | tmp_0 = MAX_uint16_T; |
| 18809 | } |
| 18810 | |
| 18811 | motor_Y.PWMOUT = tmp_0; |
| 18812 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 18813 | if (tmp_1 < 2.147483648E+9) { |
| 18814 | if (tmp_1 >= -2.147483648E+9) { |
| 18815 | tmp = (int32_T)tmp_1; |
| 18816 | } else { |
| 18817 | tmp = MIN_int32_T; |
| 18818 | } |
| 18819 | } else { |
| 18820 | tmp = MAX_int32_T; |
| 18821 | } |
| 18822 | |
| 18823 | motor_Y.JD_Out = tmp; |
| 18824 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 18825 | if (tmp_1 < 2.147483648E+9) { |
| 18826 | if (tmp_1 >= -2.147483648E+9) { |
| 18827 | tmp = (int32_T)tmp_1; |
| 18828 | } else { |
| 18829 | tmp = MIN_int32_T; |
| 18830 | } |
| 18831 | } else { |
| 18832 | tmp = MAX_int32_T; |
| 18833 | } |
| 18834 | |
| 18835 | motor_Y.JD_Error = tmp; |
| 18836 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 18837 | } |
| 18838 | break; |
| 18839 | } |
| 18840 | } |
| 18841 | |
| 18842 | /* Function for Chart: '<Root>/Chart' */ |
| 18843 | static void motor_Limit_Up_Test_a(void) |
| 18844 | { |
| 18845 | int32_T tmp; |
| 18846 | real_T tmp_0; |
| 18847 | uint16_T tmp_1; |
| 18848 | |
| 18849 | /* During 'Limit_Up_Test': '<S1>:340' */ |
| 18850 | switch (motor_DWork.is_Limit_Up_Test_j) { |
| 18851 | case motor_IN_HY_f: |
| 18852 | /* During 'HY': '<S1>:349' */ |
| 18853 | switch (motor_DWork.is_HY_l) { |
| 18854 | case motor_IN_Int: |
| 18855 | /* During 'Int': '<S1>:350' */ |
| 18856 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 18857 | /* Transition: '<S1>:1012' */ |
| 18858 | motor_DWork.is_HY_l = motor_IN_Int8; |
| 18859 | } |
| 18860 | break; |
| 18861 | |
| 18862 | case motor_IN_Int1: |
| 18863 | /* Inport: '<Root>/Up_Limit' */ |
| 18864 | /* During 'Int1': '<S1>:351' */ |
| 18865 | if (motor_U.Up_Limit == 0) { |
| 18866 | /* Transition: '<S1>:794' */ |
| 18867 | /* 上限位开关低电平有效 */ |
| 18868 | motor_DWork.is_HY_l = motor_IN_Int2_i; |
| 18869 | motor_DWork.temporalCounter_i2 = 0U; |
| 18870 | |
| 18871 | /* Entry 'Int2': '<S1>:352' */ |
| 18872 | motor_DWork.chu_jd += 0.002; |
| 18873 | |
| 18874 | /* Inport: '<Root>/JD_In' */ |
| 18875 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 18876 | motor_B.JD_In_f = motor_U.JD_In; |
| 18877 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 18878 | |
| 18879 | /* Inport: '<Root>/System_Order' */ |
| 18880 | motor_B.Slect_port_c = motor_U.System_Order; |
| 18881 | |
| 18882 | /* Inport: '<Root>/Encode_Sp' */ |
| 18883 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 18884 | |
| 18885 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 18886 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 18887 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 18888 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 18889 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 18890 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 18891 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 18892 | &motor_DWork.chu_jd); |
| 18893 | |
| 18894 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 18895 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 18896 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 18897 | if (tmp_0 < 2.147483648E+9) { |
| 18898 | if (tmp_0 >= -2.147483648E+9) { |
| 18899 | tmp = (int32_T)tmp_0; |
| 18900 | } else { |
| 18901 | tmp = MIN_int32_T; |
| 18902 | } |
| 18903 | } else { |
| 18904 | tmp = MAX_int32_T; |
| 18905 | } |
| 18906 | |
| 18907 | motor_Y.JD_Error = tmp; |
| 18908 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 18909 | if (tmp_0 < 2.147483648E+9) { |
| 18910 | if (tmp_0 >= -2.147483648E+9) { |
| 18911 | tmp = (int32_T)tmp_0; |
| 18912 | } else { |
| 18913 | tmp = MIN_int32_T; |
| 18914 | } |
| 18915 | } else { |
| 18916 | tmp = MAX_int32_T; |
| 18917 | } |
| 18918 | |
| 18919 | motor_Y.JD_Out = tmp; |
| 18920 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(7.0 / |
| 18921 | motor_DWork.Ts)) { |
| 18922 | /* Transition: '<S1>:1043' */ |
| 18923 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 18924 | |
| 18925 | /* 上限位开关故障$/ */ |
| 18926 | motor_DWork.is_HY_l = motor_IN_Int2_i; |
| 18927 | motor_DWork.temporalCounter_i2 = 0U; |
| 18928 | |
| 18929 | /* Entry 'Int2': '<S1>:352' */ |
| 18930 | motor_DWork.chu_jd += 0.002; |
| 18931 | |
| 18932 | /* Inport: '<Root>/JD_In' */ |
| 18933 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 18934 | motor_B.JD_In_f = motor_U.JD_In; |
| 18935 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 18936 | |
| 18937 | /* Inport: '<Root>/System_Order' */ |
| 18938 | motor_B.Slect_port_c = motor_U.System_Order; |
| 18939 | |
| 18940 | /* Inport: '<Root>/Encode_Sp' */ |
| 18941 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 18942 | |
| 18943 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 18944 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 18945 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 18946 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 18947 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 18948 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 18949 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 18950 | &motor_DWork.chu_jd); |
| 18951 | |
| 18952 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 18953 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 18954 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 18955 | if (tmp_0 < 2.147483648E+9) { |
| 18956 | if (tmp_0 >= -2.147483648E+9) { |
| 18957 | tmp = (int32_T)tmp_0; |
| 18958 | } else { |
| 18959 | tmp = MIN_int32_T; |
| 18960 | } |
| 18961 | } else { |
| 18962 | tmp = MAX_int32_T; |
| 18963 | } |
| 18964 | |
| 18965 | motor_Y.JD_Error = tmp; |
| 18966 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 18967 | if (tmp_0 < 2.147483648E+9) { |
| 18968 | if (tmp_0 >= -2.147483648E+9) { |
| 18969 | tmp = (int32_T)tmp_0; |
| 18970 | } else { |
| 18971 | tmp = MIN_int32_T; |
| 18972 | } |
| 18973 | } else { |
| 18974 | tmp = MAX_int32_T; |
| 18975 | } |
| 18976 | |
| 18977 | motor_Y.JD_Out = tmp; |
| 18978 | } else { |
| 18979 | motor_DWork.chu_jd += 0.002; |
| 18980 | |
| 18981 | /* Inport: '<Root>/JD_In' */ |
| 18982 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 18983 | motor_B.JD_In_f = motor_U.JD_In; |
| 18984 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 18985 | |
| 18986 | /* Inport: '<Root>/System_Order' */ |
| 18987 | motor_B.Slect_port_c = motor_U.System_Order; |
| 18988 | |
| 18989 | /* Inport: '<Root>/Encode_Sp' */ |
| 18990 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 18991 | |
| 18992 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 18993 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 18994 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 18995 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 18996 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 18997 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 18998 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 18999 | &motor_DWork.chu_jd); |
| 19000 | |
| 19001 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19002 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19003 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19004 | if (tmp_0 < 2.147483648E+9) { |
| 19005 | if (tmp_0 >= -2.147483648E+9) { |
| 19006 | tmp = (int32_T)tmp_0; |
| 19007 | } else { |
| 19008 | tmp = MIN_int32_T; |
| 19009 | } |
| 19010 | } else { |
| 19011 | tmp = MAX_int32_T; |
| 19012 | } |
| 19013 | |
| 19014 | motor_Y.JD_Error = tmp; |
| 19015 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19016 | if (tmp_0 < 2.147483648E+9) { |
| 19017 | if (tmp_0 >= -2.147483648E+9) { |
| 19018 | tmp = (int32_T)tmp_0; |
| 19019 | } else { |
| 19020 | tmp = MIN_int32_T; |
| 19021 | } |
| 19022 | } else { |
| 19023 | tmp = MAX_int32_T; |
| 19024 | } |
| 19025 | |
| 19026 | motor_Y.JD_Out = tmp; |
| 19027 | } |
| 19028 | break; |
| 19029 | |
| 19030 | case motor_IN_Int2_i: |
| 19031 | /* During 'Int2': '<S1>:352' */ |
| 19032 | if (motor_DWork.temporalCounter_i2 >= 50U) { |
| 19033 | /* Transition: '<S1>:796' */ |
| 19034 | motor_DWork.is_HY_l = motor_IN_Int7; |
| 19035 | motor_DWork.temporalCounter_i2 = 0U; |
| 19036 | } else { |
| 19037 | motor_DWork.chu_jd += 0.002; |
| 19038 | |
| 19039 | /* Inport: '<Root>/JD_In' */ |
| 19040 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19041 | motor_B.JD_In_f = motor_U.JD_In; |
| 19042 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19043 | |
| 19044 | /* Inport: '<Root>/System_Order' */ |
| 19045 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19046 | |
| 19047 | /* Inport: '<Root>/Encode_Sp' */ |
| 19048 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19049 | |
| 19050 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19051 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19052 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19053 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19054 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19055 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19056 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19057 | &motor_DWork.chu_jd); |
| 19058 | |
| 19059 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19060 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19061 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19062 | if (tmp_0 < 2.147483648E+9) { |
| 19063 | if (tmp_0 >= -2.147483648E+9) { |
| 19064 | tmp = (int32_T)tmp_0; |
| 19065 | } else { |
| 19066 | tmp = MIN_int32_T; |
| 19067 | } |
| 19068 | } else { |
| 19069 | tmp = MAX_int32_T; |
| 19070 | } |
| 19071 | |
| 19072 | motor_Y.JD_Error = tmp; |
| 19073 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19074 | if (tmp_0 < 2.147483648E+9) { |
| 19075 | if (tmp_0 >= -2.147483648E+9) { |
| 19076 | tmp = (int32_T)tmp_0; |
| 19077 | } else { |
| 19078 | tmp = MIN_int32_T; |
| 19079 | } |
| 19080 | } else { |
| 19081 | tmp = MAX_int32_T; |
| 19082 | } |
| 19083 | |
| 19084 | motor_Y.JD_Out = tmp; |
| 19085 | } |
| 19086 | break; |
| 19087 | |
| 19088 | case motor_IN_Int3_l: |
| 19089 | /* During 'Int3': '<S1>:353' */ |
| 19090 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 19091 | /* Transition: '<S1>:797' */ |
| 19092 | motor_DWork.is_HY_l = motor_IN_Int4_b; |
| 19093 | motor_DWork.temporalCounter_i2 = 0U; |
| 19094 | |
| 19095 | /* Entry 'Int4': '<S1>:355' */ |
| 19096 | motor_DWork.chu_jd = 0.0; |
| 19097 | |
| 19098 | /* Inport: '<Root>/JD_In' */ |
| 19099 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19100 | motor_B.JD_In_f = motor_U.JD_In; |
| 19101 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19102 | |
| 19103 | /* Inport: '<Root>/System_Order' */ |
| 19104 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19105 | |
| 19106 | /* Inport: '<Root>/Encode_Sp' */ |
| 19107 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19108 | |
| 19109 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19110 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19111 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19112 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19113 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19114 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19115 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19116 | &motor_DWork.chu_jd); |
| 19117 | |
| 19118 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19119 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19120 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19121 | if (tmp_0 < 2.147483648E+9) { |
| 19122 | if (tmp_0 >= -2.147483648E+9) { |
| 19123 | tmp = (int32_T)tmp_0; |
| 19124 | } else { |
| 19125 | tmp = MIN_int32_T; |
| 19126 | } |
| 19127 | } else { |
| 19128 | tmp = MAX_int32_T; |
| 19129 | } |
| 19130 | |
| 19131 | motor_Y.JD_Error = tmp; |
| 19132 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19133 | if (tmp_0 < 2.147483648E+9) { |
| 19134 | if (tmp_0 >= -2.147483648E+9) { |
| 19135 | tmp = (int32_T)tmp_0; |
| 19136 | } else { |
| 19137 | tmp = MIN_int32_T; |
| 19138 | } |
| 19139 | } else { |
| 19140 | tmp = MAX_int32_T; |
| 19141 | } |
| 19142 | |
| 19143 | motor_Y.JD_Out = tmp; |
| 19144 | } else { |
| 19145 | motor_DWork.chu_jd -= 0.01; |
| 19146 | |
| 19147 | /* Inport: '<Root>/JD_In' */ |
| 19148 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19149 | motor_B.JD_In_f = motor_U.JD_In; |
| 19150 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19151 | |
| 19152 | /* Inport: '<Root>/System_Order' */ |
| 19153 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19154 | |
| 19155 | /* Inport: '<Root>/Encode_Sp' */ |
| 19156 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19157 | |
| 19158 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19159 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19160 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19161 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19162 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19163 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19164 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19165 | &motor_DWork.chu_jd); |
| 19166 | |
| 19167 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19168 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19169 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19170 | if (tmp_0 < 2.147483648E+9) { |
| 19171 | if (tmp_0 >= -2.147483648E+9) { |
| 19172 | tmp = (int32_T)tmp_0; |
| 19173 | } else { |
| 19174 | tmp = MIN_int32_T; |
| 19175 | } |
| 19176 | } else { |
| 19177 | tmp = MAX_int32_T; |
| 19178 | } |
| 19179 | |
| 19180 | motor_Y.JD_Error = tmp; |
| 19181 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19182 | if (tmp_0 < 2.147483648E+9) { |
| 19183 | if (tmp_0 >= -2.147483648E+9) { |
| 19184 | tmp = (int32_T)tmp_0; |
| 19185 | } else { |
| 19186 | tmp = MIN_int32_T; |
| 19187 | } |
| 19188 | } else { |
| 19189 | tmp = MAX_int32_T; |
| 19190 | } |
| 19191 | |
| 19192 | motor_Y.JD_Out = tmp; |
| 19193 | } |
| 19194 | break; |
| 19195 | |
| 19196 | case motor_IN_Int4_b: |
| 19197 | /* During 'Int4': '<S1>:355' */ |
| 19198 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 19199 | /* Transition: '<S1>:799' */ |
| 19200 | motor_DWork.is_HY_l = motor_IN_Int5_a; |
| 19201 | motor_DWork.temporalCounter_i2 = 0U; |
| 19202 | |
| 19203 | /* Entry 'Int5': '<S1>:356' */ |
| 19204 | motor_Y.Motor_En = true; |
| 19205 | |
| 19206 | /* 电机失能 */ |
| 19207 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 19208 | } else { |
| 19209 | /* Inport: '<Root>/JD_In' */ |
| 19210 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19211 | motor_B.JD_In_f = motor_U.JD_In; |
| 19212 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19213 | |
| 19214 | /* Inport: '<Root>/System_Order' */ |
| 19215 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19216 | |
| 19217 | /* Inport: '<Root>/Encode_Sp' */ |
| 19218 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19219 | |
| 19220 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19221 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19222 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19223 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19224 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19225 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19226 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19227 | &motor_DWork.chu_jd); |
| 19228 | |
| 19229 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19230 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19231 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19232 | if (tmp_0 < 2.147483648E+9) { |
| 19233 | if (tmp_0 >= -2.147483648E+9) { |
| 19234 | tmp = (int32_T)tmp_0; |
| 19235 | } else { |
| 19236 | tmp = MIN_int32_T; |
| 19237 | } |
| 19238 | } else { |
| 19239 | tmp = MAX_int32_T; |
| 19240 | } |
| 19241 | |
| 19242 | motor_Y.JD_Error = tmp; |
| 19243 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19244 | if (tmp_0 < 2.147483648E+9) { |
| 19245 | if (tmp_0 >= -2.147483648E+9) { |
| 19246 | tmp = (int32_T)tmp_0; |
| 19247 | } else { |
| 19248 | tmp = MIN_int32_T; |
| 19249 | } |
| 19250 | } else { |
| 19251 | tmp = MAX_int32_T; |
| 19252 | } |
| 19253 | |
| 19254 | motor_Y.JD_Out = tmp; |
| 19255 | } |
| 19256 | break; |
| 19257 | |
| 19258 | case motor_IN_Int5_a: |
| 19259 | /* During 'Int5': '<S1>:356' */ |
| 19260 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 19261 | /* Transition: '<S1>:798' */ |
| 19262 | motor_DWork.is_HY_l = motor_IN_Int6_m; |
| 19263 | |
| 19264 | /* Entry 'Int6': '<S1>:354' */ |
| 19265 | motor_Y.DCZD = false; |
| 19266 | |
| 19267 | /* 解除制动 */ |
| 19268 | } |
| 19269 | break; |
| 19270 | |
| 19271 | case motor_IN_Int6_m: |
| 19272 | /* During 'Int6': '<S1>:354' */ |
| 19273 | /* Transition: '<S1>:795' */ |
| 19274 | /* Transition: '<S1>:773' */ |
| 19275 | /* Transition: '<S1>:620' */ |
| 19276 | motor_DWork.XiaoDaShen = 0.0; |
| 19277 | motor_DWork.is_HY_l = motor_IN_NO_ACTIVE_CHILD; |
| 19278 | motor_DWork.is_Limit_Up_Test_j = motor_IN_NO_ACTIVE_CHILD; |
| 19279 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 19280 | |
| 19281 | /* Entry 'Defualt': '<S1>:206' */ |
| 19282 | motor_DWork.chu_jd = 0.0; |
| 19283 | motor_DWork.KG = 0U; |
| 19284 | motor_Y.Motor_En = false; |
| 19285 | motor_Y.DCZD = false; |
| 19286 | |
| 19287 | /* 开电磁制动,低有效 */ |
| 19288 | break; |
| 19289 | |
| 19290 | case motor_IN_Int7: |
| 19291 | /* During 'Int7': '<S1>:957' */ |
| 19292 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 19293 | /* Transition: '<S1>:958' */ |
| 19294 | motor_DWork.is_HY_l = motor_IN_Int3_l; |
| 19295 | |
| 19296 | /* Entry 'Int3': '<S1>:353' */ |
| 19297 | motor_DWork.chu_jd -= 0.01; |
| 19298 | |
| 19299 | /* Inport: '<Root>/JD_In' */ |
| 19300 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19301 | motor_B.JD_In_f = motor_U.JD_In; |
| 19302 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19303 | |
| 19304 | /* Inport: '<Root>/System_Order' */ |
| 19305 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19306 | |
| 19307 | /* Inport: '<Root>/Encode_Sp' */ |
| 19308 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19309 | |
| 19310 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19311 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19312 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19313 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19314 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19315 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19316 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19317 | &motor_DWork.chu_jd); |
| 19318 | |
| 19319 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19320 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19321 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19322 | if (tmp_0 < 2.147483648E+9) { |
| 19323 | if (tmp_0 >= -2.147483648E+9) { |
| 19324 | tmp = (int32_T)tmp_0; |
| 19325 | } else { |
| 19326 | tmp = MIN_int32_T; |
| 19327 | } |
| 19328 | } else { |
| 19329 | tmp = MAX_int32_T; |
| 19330 | } |
| 19331 | |
| 19332 | motor_Y.JD_Error = tmp; |
| 19333 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19334 | if (tmp_0 < 2.147483648E+9) { |
| 19335 | if (tmp_0 >= -2.147483648E+9) { |
| 19336 | tmp = (int32_T)tmp_0; |
| 19337 | } else { |
| 19338 | tmp = MIN_int32_T; |
| 19339 | } |
| 19340 | } else { |
| 19341 | tmp = MAX_int32_T; |
| 19342 | } |
| 19343 | |
| 19344 | motor_Y.JD_Out = tmp; |
| 19345 | } else { |
| 19346 | /* Inport: '<Root>/JD_In' */ |
| 19347 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19348 | motor_B.JD_In_f = motor_U.JD_In; |
| 19349 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19350 | |
| 19351 | /* Inport: '<Root>/System_Order' */ |
| 19352 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19353 | |
| 19354 | /* Inport: '<Root>/Encode_Sp' */ |
| 19355 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19356 | |
| 19357 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19358 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19359 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19360 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19361 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19362 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19363 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19364 | &motor_DWork.chu_jd); |
| 19365 | |
| 19366 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19367 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19368 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19369 | if (tmp_0 < 2.147483648E+9) { |
| 19370 | if (tmp_0 >= -2.147483648E+9) { |
| 19371 | tmp = (int32_T)tmp_0; |
| 19372 | } else { |
| 19373 | tmp = MIN_int32_T; |
| 19374 | } |
| 19375 | } else { |
| 19376 | tmp = MAX_int32_T; |
| 19377 | } |
| 19378 | |
| 19379 | motor_Y.JD_Error = tmp; |
| 19380 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19381 | if (tmp_0 < 2.147483648E+9) { |
| 19382 | if (tmp_0 >= -2.147483648E+9) { |
| 19383 | tmp = (int32_T)tmp_0; |
| 19384 | } else { |
| 19385 | tmp = MIN_int32_T; |
| 19386 | } |
| 19387 | } else { |
| 19388 | tmp = MAX_int32_T; |
| 19389 | } |
| 19390 | |
| 19391 | motor_Y.JD_Out = tmp; |
| 19392 | } |
| 19393 | break; |
| 19394 | |
| 19395 | default: |
| 19396 | /* During 'Int8': '<S1>:1011' */ |
| 19397 | if (motor_DWork.chu_jd > 14.0) { |
| 19398 | /* Transition: '<S1>:1010' */ |
| 19399 | motor_DWork.is_HY_l = motor_IN_Int1; |
| 19400 | motor_DWork.temporalCounter_i2 = 0U; |
| 19401 | |
| 19402 | /* Entry 'Int1': '<S1>:351' */ |
| 19403 | motor_DWork.chu_jd += 0.002; |
| 19404 | |
| 19405 | /* Inport: '<Root>/JD_In' */ |
| 19406 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19407 | motor_B.JD_In_f = motor_U.JD_In; |
| 19408 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19409 | |
| 19410 | /* Inport: '<Root>/System_Order' */ |
| 19411 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19412 | |
| 19413 | /* Inport: '<Root>/Encode_Sp' */ |
| 19414 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19415 | |
| 19416 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19417 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19418 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19419 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19420 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19421 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19422 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19423 | &motor_DWork.chu_jd); |
| 19424 | |
| 19425 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19426 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19427 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19428 | if (tmp_0 < 2.147483648E+9) { |
| 19429 | if (tmp_0 >= -2.147483648E+9) { |
| 19430 | tmp = (int32_T)tmp_0; |
| 19431 | } else { |
| 19432 | tmp = MIN_int32_T; |
| 19433 | } |
| 19434 | } else { |
| 19435 | tmp = MAX_int32_T; |
| 19436 | } |
| 19437 | |
| 19438 | motor_Y.JD_Error = tmp; |
| 19439 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19440 | if (tmp_0 < 2.147483648E+9) { |
| 19441 | if (tmp_0 >= -2.147483648E+9) { |
| 19442 | tmp = (int32_T)tmp_0; |
| 19443 | } else { |
| 19444 | tmp = MIN_int32_T; |
| 19445 | } |
| 19446 | } else { |
| 19447 | tmp = MAX_int32_T; |
| 19448 | } |
| 19449 | |
| 19450 | motor_Y.JD_Out = tmp; |
| 19451 | } else if (motor_U.Up_Limit == 0) { |
| 19452 | /* Transition: '<S1>:1009' */ |
| 19453 | /* 上限位开关低电平有效 */ |
| 19454 | motor_DWork.is_HY_l = motor_IN_Int2_i; |
| 19455 | motor_DWork.temporalCounter_i2 = 0U; |
| 19456 | |
| 19457 | /* Entry 'Int2': '<S1>:352' */ |
| 19458 | motor_DWork.chu_jd += 0.002; |
| 19459 | |
| 19460 | /* Inport: '<Root>/JD_In' */ |
| 19461 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19462 | motor_B.JD_In_f = motor_U.JD_In; |
| 19463 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19464 | |
| 19465 | /* Inport: '<Root>/System_Order' */ |
| 19466 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19467 | |
| 19468 | /* Inport: '<Root>/Encode_Sp' */ |
| 19469 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19470 | |
| 19471 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19472 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19473 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19474 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19475 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19476 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19477 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19478 | &motor_DWork.chu_jd); |
| 19479 | |
| 19480 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19481 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19482 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19483 | if (tmp_0 < 2.147483648E+9) { |
| 19484 | if (tmp_0 >= -2.147483648E+9) { |
| 19485 | tmp = (int32_T)tmp_0; |
| 19486 | } else { |
| 19487 | tmp = MIN_int32_T; |
| 19488 | } |
| 19489 | } else { |
| 19490 | tmp = MAX_int32_T; |
| 19491 | } |
| 19492 | |
| 19493 | motor_Y.JD_Error = tmp; |
| 19494 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19495 | if (tmp_0 < 2.147483648E+9) { |
| 19496 | if (tmp_0 >= -2.147483648E+9) { |
| 19497 | tmp = (int32_T)tmp_0; |
| 19498 | } else { |
| 19499 | tmp = MIN_int32_T; |
| 19500 | } |
| 19501 | } else { |
| 19502 | tmp = MAX_int32_T; |
| 19503 | } |
| 19504 | |
| 19505 | motor_Y.JD_Out = tmp; |
| 19506 | } else { |
| 19507 | motor_DWork.chu_jd += 0.01; |
| 19508 | |
| 19509 | /* Inport: '<Root>/JD_In' */ |
| 19510 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 19511 | motor_B.JD_In_f = motor_U.JD_In; |
| 19512 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 19513 | |
| 19514 | /* Inport: '<Root>/System_Order' */ |
| 19515 | motor_B.Slect_port_c = motor_U.System_Order; |
| 19516 | |
| 19517 | /* Inport: '<Root>/Encode_Sp' */ |
| 19518 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 19519 | |
| 19520 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 19521 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 19522 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 19523 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 19524 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 19525 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 19526 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19527 | &motor_DWork.chu_jd); |
| 19528 | |
| 19529 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 19530 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 19531 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 19532 | if (tmp_0 < 2.147483648E+9) { |
| 19533 | if (tmp_0 >= -2.147483648E+9) { |
| 19534 | tmp = (int32_T)tmp_0; |
| 19535 | } else { |
| 19536 | tmp = MIN_int32_T; |
| 19537 | } |
| 19538 | } else { |
| 19539 | tmp = MAX_int32_T; |
| 19540 | } |
| 19541 | |
| 19542 | motor_Y.JD_Error = tmp; |
| 19543 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 19544 | if (tmp_0 < 2.147483648E+9) { |
| 19545 | if (tmp_0 >= -2.147483648E+9) { |
| 19546 | tmp = (int32_T)tmp_0; |
| 19547 | } else { |
| 19548 | tmp = MIN_int32_T; |
| 19549 | } |
| 19550 | } else { |
| 19551 | tmp = MAX_int32_T; |
| 19552 | } |
| 19553 | |
| 19554 | motor_Y.JD_Out = tmp; |
| 19555 | } |
| 19556 | break; |
| 19557 | } |
| 19558 | break; |
| 19559 | |
| 19560 | case motor_IN_XHHY_m1: |
| 19561 | /* During 'XHHY': '<S1>:357' */ |
| 19562 | switch (motor_DWork.is_XHHY_nb) { |
| 19563 | case motor_IN_Int: |
| 19564 | /* During 'Int': '<S1>:358' */ |
| 19565 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 19566 | /* Transition: '<S1>:1014' */ |
| 19567 | motor_DWork.is_XHHY_nb = motor_IN_Int8; |
| 19568 | } |
| 19569 | break; |
| 19570 | |
| 19571 | case motor_IN_Int1: |
| 19572 | /* Inport: '<Root>/Up_Limit' */ |
| 19573 | /* During 'Int1': '<S1>:359' */ |
| 19574 | if (motor_U.Up_Limit == 0) { |
| 19575 | /* Transition: '<S1>:802' */ |
| 19576 | /* 上限位开关低电平有效 */ |
| 19577 | motor_DWork.is_XHHY_nb = motor_IN_Int2_i; |
| 19578 | motor_DWork.temporalCounter_i2 = 0U; |
| 19579 | |
| 19580 | /* Entry 'Int2': '<S1>:360' */ |
| 19581 | motor_DWork.chu_jd += 0.002; |
| 19582 | |
| 19583 | /* Inport: '<Root>/JD_In' */ |
| 19584 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 19585 | motor_B.JD_In = motor_U.JD_In; |
| 19586 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 19587 | |
| 19588 | /* Inport: '<Root>/Encode_Sp' */ |
| 19589 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 19590 | |
| 19591 | /* Inport: '<Root>/System_Order' */ |
| 19592 | motor_B.Slect_port = motor_U.System_Order; |
| 19593 | |
| 19594 | /* Inport: '<Root>/SGWY_In' */ |
| 19595 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 19596 | |
| 19597 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 19598 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 19599 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 19600 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 19601 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 19602 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 19603 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 19604 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 19605 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19606 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 19607 | &motor_DWork.chu_jd); |
| 19608 | |
| 19609 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 19610 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 19611 | if (tmp_0 < 65536.0) { |
| 19612 | if (tmp_0 >= 0.0) { |
| 19613 | tmp_1 = (uint16_T)tmp_0; |
| 19614 | } else { |
| 19615 | tmp_1 = 0U; |
| 19616 | } |
| 19617 | } else { |
| 19618 | tmp_1 = MAX_uint16_T; |
| 19619 | } |
| 19620 | |
| 19621 | motor_Y.PWMOUT = tmp_1; |
| 19622 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 19623 | if (tmp_0 < 2.147483648E+9) { |
| 19624 | if (tmp_0 >= -2.147483648E+9) { |
| 19625 | tmp = (int32_T)tmp_0; |
| 19626 | } else { |
| 19627 | tmp = MIN_int32_T; |
| 19628 | } |
| 19629 | } else { |
| 19630 | tmp = MAX_int32_T; |
| 19631 | } |
| 19632 | |
| 19633 | motor_Y.JD_Out = tmp; |
| 19634 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 19635 | if (tmp_0 < 2.147483648E+9) { |
| 19636 | if (tmp_0 >= -2.147483648E+9) { |
| 19637 | tmp = (int32_T)tmp_0; |
| 19638 | } else { |
| 19639 | tmp = MIN_int32_T; |
| 19640 | } |
| 19641 | } else { |
| 19642 | tmp = MAX_int32_T; |
| 19643 | } |
| 19644 | |
| 19645 | motor_Y.JD_Error = tmp; |
| 19646 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(5.0 / |
| 19647 | motor_DWork.Ts)) { |
| 19648 | /* Transition: '<S1>:1044' */ |
| 19649 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 19650 | |
| 19651 | /* 上限位开关故障$/ */ |
| 19652 | motor_DWork.is_XHHY_nb = motor_IN_Int2_i; |
| 19653 | motor_DWork.temporalCounter_i2 = 0U; |
| 19654 | |
| 19655 | /* Entry 'Int2': '<S1>:360' */ |
| 19656 | motor_DWork.chu_jd += 0.002; |
| 19657 | |
| 19658 | /* Inport: '<Root>/JD_In' */ |
| 19659 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 19660 | motor_B.JD_In = motor_U.JD_In; |
| 19661 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 19662 | |
| 19663 | /* Inport: '<Root>/Encode_Sp' */ |
| 19664 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 19665 | |
| 19666 | /* Inport: '<Root>/System_Order' */ |
| 19667 | motor_B.Slect_port = motor_U.System_Order; |
| 19668 | |
| 19669 | /* Inport: '<Root>/SGWY_In' */ |
| 19670 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 19671 | |
| 19672 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 19673 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 19674 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 19675 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 19676 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 19677 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 19678 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 19679 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 19680 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19681 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 19682 | &motor_DWork.chu_jd); |
| 19683 | |
| 19684 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 19685 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 19686 | if (tmp_0 < 65536.0) { |
| 19687 | if (tmp_0 >= 0.0) { |
| 19688 | tmp_1 = (uint16_T)tmp_0; |
| 19689 | } else { |
| 19690 | tmp_1 = 0U; |
| 19691 | } |
| 19692 | } else { |
| 19693 | tmp_1 = MAX_uint16_T; |
| 19694 | } |
| 19695 | |
| 19696 | motor_Y.PWMOUT = tmp_1; |
| 19697 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 19698 | if (tmp_0 < 2.147483648E+9) { |
| 19699 | if (tmp_0 >= -2.147483648E+9) { |
| 19700 | tmp = (int32_T)tmp_0; |
| 19701 | } else { |
| 19702 | tmp = MIN_int32_T; |
| 19703 | } |
| 19704 | } else { |
| 19705 | tmp = MAX_int32_T; |
| 19706 | } |
| 19707 | |
| 19708 | motor_Y.JD_Out = tmp; |
| 19709 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 19710 | if (tmp_0 < 2.147483648E+9) { |
| 19711 | if (tmp_0 >= -2.147483648E+9) { |
| 19712 | tmp = (int32_T)tmp_0; |
| 19713 | } else { |
| 19714 | tmp = MIN_int32_T; |
| 19715 | } |
| 19716 | } else { |
| 19717 | tmp = MAX_int32_T; |
| 19718 | } |
| 19719 | |
| 19720 | motor_Y.JD_Error = tmp; |
| 19721 | } else { |
| 19722 | motor_DWork.chu_jd += 0.002; |
| 19723 | |
| 19724 | /* Inport: '<Root>/JD_In' */ |
| 19725 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 19726 | motor_B.JD_In = motor_U.JD_In; |
| 19727 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 19728 | |
| 19729 | /* Inport: '<Root>/Encode_Sp' */ |
| 19730 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 19731 | |
| 19732 | /* Inport: '<Root>/System_Order' */ |
| 19733 | motor_B.Slect_port = motor_U.System_Order; |
| 19734 | |
| 19735 | /* Inport: '<Root>/SGWY_In' */ |
| 19736 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 19737 | |
| 19738 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 19739 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 19740 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 19741 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 19742 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 19743 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 19744 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 19745 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 19746 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19747 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 19748 | &motor_DWork.chu_jd); |
| 19749 | |
| 19750 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 19751 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 19752 | if (tmp_0 < 65536.0) { |
| 19753 | if (tmp_0 >= 0.0) { |
| 19754 | tmp_1 = (uint16_T)tmp_0; |
| 19755 | } else { |
| 19756 | tmp_1 = 0U; |
| 19757 | } |
| 19758 | } else { |
| 19759 | tmp_1 = MAX_uint16_T; |
| 19760 | } |
| 19761 | |
| 19762 | motor_Y.PWMOUT = tmp_1; |
| 19763 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 19764 | if (tmp_0 < 2.147483648E+9) { |
| 19765 | if (tmp_0 >= -2.147483648E+9) { |
| 19766 | tmp = (int32_T)tmp_0; |
| 19767 | } else { |
| 19768 | tmp = MIN_int32_T; |
| 19769 | } |
| 19770 | } else { |
| 19771 | tmp = MAX_int32_T; |
| 19772 | } |
| 19773 | |
| 19774 | motor_Y.JD_Out = tmp; |
| 19775 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 19776 | if (tmp_0 < 2.147483648E+9) { |
| 19777 | if (tmp_0 >= -2.147483648E+9) { |
| 19778 | tmp = (int32_T)tmp_0; |
| 19779 | } else { |
| 19780 | tmp = MIN_int32_T; |
| 19781 | } |
| 19782 | } else { |
| 19783 | tmp = MAX_int32_T; |
| 19784 | } |
| 19785 | |
| 19786 | motor_Y.JD_Error = tmp; |
| 19787 | } |
| 19788 | break; |
| 19789 | |
| 19790 | case motor_IN_Int2_i: |
| 19791 | /* During 'Int2': '<S1>:360' */ |
| 19792 | if (motor_DWork.temporalCounter_i2 >= 50U) { |
| 19793 | /* Transition: '<S1>:804' */ |
| 19794 | motor_DWork.is_XHHY_nb = motor_IN_Int7; |
| 19795 | motor_DWork.temporalCounter_i2 = 0U; |
| 19796 | } else { |
| 19797 | motor_DWork.chu_jd += 0.002; |
| 19798 | |
| 19799 | /* Inport: '<Root>/JD_In' */ |
| 19800 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 19801 | motor_B.JD_In = motor_U.JD_In; |
| 19802 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 19803 | |
| 19804 | /* Inport: '<Root>/Encode_Sp' */ |
| 19805 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 19806 | |
| 19807 | /* Inport: '<Root>/System_Order' */ |
| 19808 | motor_B.Slect_port = motor_U.System_Order; |
| 19809 | |
| 19810 | /* Inport: '<Root>/SGWY_In' */ |
| 19811 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 19812 | |
| 19813 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 19814 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 19815 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 19816 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 19817 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 19818 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 19819 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 19820 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 19821 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19822 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 19823 | &motor_DWork.chu_jd); |
| 19824 | |
| 19825 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 19826 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 19827 | if (tmp_0 < 65536.0) { |
| 19828 | if (tmp_0 >= 0.0) { |
| 19829 | tmp_1 = (uint16_T)tmp_0; |
| 19830 | } else { |
| 19831 | tmp_1 = 0U; |
| 19832 | } |
| 19833 | } else { |
| 19834 | tmp_1 = MAX_uint16_T; |
| 19835 | } |
| 19836 | |
| 19837 | motor_Y.PWMOUT = tmp_1; |
| 19838 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 19839 | if (tmp_0 < 2.147483648E+9) { |
| 19840 | if (tmp_0 >= -2.147483648E+9) { |
| 19841 | tmp = (int32_T)tmp_0; |
| 19842 | } else { |
| 19843 | tmp = MIN_int32_T; |
| 19844 | } |
| 19845 | } else { |
| 19846 | tmp = MAX_int32_T; |
| 19847 | } |
| 19848 | |
| 19849 | motor_Y.JD_Out = tmp; |
| 19850 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 19851 | if (tmp_0 < 2.147483648E+9) { |
| 19852 | if (tmp_0 >= -2.147483648E+9) { |
| 19853 | tmp = (int32_T)tmp_0; |
| 19854 | } else { |
| 19855 | tmp = MIN_int32_T; |
| 19856 | } |
| 19857 | } else { |
| 19858 | tmp = MAX_int32_T; |
| 19859 | } |
| 19860 | |
| 19861 | motor_Y.JD_Error = tmp; |
| 19862 | } |
| 19863 | break; |
| 19864 | |
| 19865 | case motor_IN_Int3_l: |
| 19866 | /* During 'Int3': '<S1>:361' */ |
| 19867 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 19868 | /* Transition: '<S1>:805' */ |
| 19869 | motor_DWork.is_XHHY_nb = motor_IN_Int4_b; |
| 19870 | motor_DWork.temporalCounter_i2 = 0U; |
| 19871 | |
| 19872 | /* Entry 'Int4': '<S1>:363' */ |
| 19873 | motor_DWork.chu_jd = 0.0; |
| 19874 | |
| 19875 | /* Inport: '<Root>/JD_In' */ |
| 19876 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 19877 | motor_B.JD_In = motor_U.JD_In; |
| 19878 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 19879 | |
| 19880 | /* Inport: '<Root>/Encode_Sp' */ |
| 19881 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 19882 | |
| 19883 | /* Inport: '<Root>/System_Order' */ |
| 19884 | motor_B.Slect_port = motor_U.System_Order; |
| 19885 | |
| 19886 | /* Inport: '<Root>/SGWY_In' */ |
| 19887 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 19888 | |
| 19889 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 19890 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 19891 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 19892 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 19893 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 19894 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 19895 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 19896 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 19897 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19898 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 19899 | &motor_DWork.chu_jd); |
| 19900 | |
| 19901 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 19902 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 19903 | if (tmp_0 < 65536.0) { |
| 19904 | if (tmp_0 >= 0.0) { |
| 19905 | tmp_1 = (uint16_T)tmp_0; |
| 19906 | } else { |
| 19907 | tmp_1 = 0U; |
| 19908 | } |
| 19909 | } else { |
| 19910 | tmp_1 = MAX_uint16_T; |
| 19911 | } |
| 19912 | |
| 19913 | motor_Y.PWMOUT = tmp_1; |
| 19914 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 19915 | if (tmp_0 < 2.147483648E+9) { |
| 19916 | if (tmp_0 >= -2.147483648E+9) { |
| 19917 | tmp = (int32_T)tmp_0; |
| 19918 | } else { |
| 19919 | tmp = MIN_int32_T; |
| 19920 | } |
| 19921 | } else { |
| 19922 | tmp = MAX_int32_T; |
| 19923 | } |
| 19924 | |
| 19925 | motor_Y.JD_Out = tmp; |
| 19926 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 19927 | if (tmp_0 < 2.147483648E+9) { |
| 19928 | if (tmp_0 >= -2.147483648E+9) { |
| 19929 | tmp = (int32_T)tmp_0; |
| 19930 | } else { |
| 19931 | tmp = MIN_int32_T; |
| 19932 | } |
| 19933 | } else { |
| 19934 | tmp = MAX_int32_T; |
| 19935 | } |
| 19936 | |
| 19937 | motor_Y.JD_Error = tmp; |
| 19938 | } else { |
| 19939 | motor_DWork.chu_jd -= 0.01; |
| 19940 | |
| 19941 | /* Inport: '<Root>/JD_In' */ |
| 19942 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 19943 | motor_B.JD_In = motor_U.JD_In; |
| 19944 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 19945 | |
| 19946 | /* Inport: '<Root>/Encode_Sp' */ |
| 19947 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 19948 | |
| 19949 | /* Inport: '<Root>/System_Order' */ |
| 19950 | motor_B.Slect_port = motor_U.System_Order; |
| 19951 | |
| 19952 | /* Inport: '<Root>/SGWY_In' */ |
| 19953 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 19954 | |
| 19955 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 19956 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 19957 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 19958 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 19959 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 19960 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 19961 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 19962 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 19963 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 19964 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 19965 | &motor_DWork.chu_jd); |
| 19966 | |
| 19967 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 19968 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 19969 | if (tmp_0 < 65536.0) { |
| 19970 | if (tmp_0 >= 0.0) { |
| 19971 | tmp_1 = (uint16_T)tmp_0; |
| 19972 | } else { |
| 19973 | tmp_1 = 0U; |
| 19974 | } |
| 19975 | } else { |
| 19976 | tmp_1 = MAX_uint16_T; |
| 19977 | } |
| 19978 | |
| 19979 | motor_Y.PWMOUT = tmp_1; |
| 19980 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 19981 | if (tmp_0 < 2.147483648E+9) { |
| 19982 | if (tmp_0 >= -2.147483648E+9) { |
| 19983 | tmp = (int32_T)tmp_0; |
| 19984 | } else { |
| 19985 | tmp = MIN_int32_T; |
| 19986 | } |
| 19987 | } else { |
| 19988 | tmp = MAX_int32_T; |
| 19989 | } |
| 19990 | |
| 19991 | motor_Y.JD_Out = tmp; |
| 19992 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 19993 | if (tmp_0 < 2.147483648E+9) { |
| 19994 | if (tmp_0 >= -2.147483648E+9) { |
| 19995 | tmp = (int32_T)tmp_0; |
| 19996 | } else { |
| 19997 | tmp = MIN_int32_T; |
| 19998 | } |
| 19999 | } else { |
| 20000 | tmp = MAX_int32_T; |
| 20001 | } |
| 20002 | |
| 20003 | motor_Y.JD_Error = tmp; |
| 20004 | } |
| 20005 | break; |
| 20006 | |
| 20007 | case motor_IN_Int4_b: |
| 20008 | /* During 'Int4': '<S1>:363' */ |
| 20009 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 20010 | /* Transition: '<S1>:560' */ |
| 20011 | motor_DWork.is_XHHY_nb = motor_IN_Int5_a; |
| 20012 | motor_DWork.temporalCounter_i2 = 0U; |
| 20013 | |
| 20014 | /* Entry 'Int5': '<S1>:143' */ |
| 20015 | motor_Y.Motor_En = true; |
| 20016 | |
| 20017 | /* 电机失能 */ |
| 20018 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 20019 | } else { |
| 20020 | /* Inport: '<Root>/JD_In' */ |
| 20021 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20022 | motor_B.JD_In = motor_U.JD_In; |
| 20023 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20024 | |
| 20025 | /* Inport: '<Root>/Encode_Sp' */ |
| 20026 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20027 | |
| 20028 | /* Inport: '<Root>/System_Order' */ |
| 20029 | motor_B.Slect_port = motor_U.System_Order; |
| 20030 | |
| 20031 | /* Inport: '<Root>/SGWY_In' */ |
| 20032 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20033 | |
| 20034 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20035 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20036 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20037 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20038 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20039 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20040 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20041 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20042 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20043 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20044 | &motor_DWork.chu_jd); |
| 20045 | |
| 20046 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20047 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20048 | if (tmp_0 < 65536.0) { |
| 20049 | if (tmp_0 >= 0.0) { |
| 20050 | tmp_1 = (uint16_T)tmp_0; |
| 20051 | } else { |
| 20052 | tmp_1 = 0U; |
| 20053 | } |
| 20054 | } else { |
| 20055 | tmp_1 = MAX_uint16_T; |
| 20056 | } |
| 20057 | |
| 20058 | motor_Y.PWMOUT = tmp_1; |
| 20059 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20060 | if (tmp_0 < 2.147483648E+9) { |
| 20061 | if (tmp_0 >= -2.147483648E+9) { |
| 20062 | tmp = (int32_T)tmp_0; |
| 20063 | } else { |
| 20064 | tmp = MIN_int32_T; |
| 20065 | } |
| 20066 | } else { |
| 20067 | tmp = MAX_int32_T; |
| 20068 | } |
| 20069 | |
| 20070 | motor_Y.JD_Out = tmp; |
| 20071 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20072 | if (tmp_0 < 2.147483648E+9) { |
| 20073 | if (tmp_0 >= -2.147483648E+9) { |
| 20074 | tmp = (int32_T)tmp_0; |
| 20075 | } else { |
| 20076 | tmp = MIN_int32_T; |
| 20077 | } |
| 20078 | } else { |
| 20079 | tmp = MAX_int32_T; |
| 20080 | } |
| 20081 | |
| 20082 | motor_Y.JD_Error = tmp; |
| 20083 | } |
| 20084 | break; |
| 20085 | |
| 20086 | case motor_IN_Int5_a: |
| 20087 | /* During 'Int5': '<S1>:143' */ |
| 20088 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 20089 | /* Transition: '<S1>:534' */ |
| 20090 | motor_DWork.is_XHHY_nb = motor_IN_Int6_m; |
| 20091 | |
| 20092 | /* Entry 'Int6': '<S1>:362' */ |
| 20093 | motor_Y.DCZD = true; |
| 20094 | |
| 20095 | /* 开启制动 */ |
| 20096 | } |
| 20097 | break; |
| 20098 | |
| 20099 | case motor_IN_Int6_m: |
| 20100 | /* During 'Int6': '<S1>:362' */ |
| 20101 | /* Transition: '<S1>:803' */ |
| 20102 | /* Transition: '<S1>:773' */ |
| 20103 | /* Transition: '<S1>:620' */ |
| 20104 | motor_DWork.XiaoDaShen = 0.0; |
| 20105 | motor_DWork.is_XHHY_nb = motor_IN_NO_ACTIVE_CHILD; |
| 20106 | motor_DWork.is_Limit_Up_Test_j = motor_IN_NO_ACTIVE_CHILD; |
| 20107 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 20108 | |
| 20109 | /* Entry 'Defualt': '<S1>:206' */ |
| 20110 | motor_DWork.chu_jd = 0.0; |
| 20111 | motor_DWork.KG = 0U; |
| 20112 | motor_Y.Motor_En = false; |
| 20113 | motor_Y.DCZD = false; |
| 20114 | |
| 20115 | /* 开电磁制动,低有效 */ |
| 20116 | break; |
| 20117 | |
| 20118 | case motor_IN_Int7: |
| 20119 | /* During 'Int7': '<S1>:959' */ |
| 20120 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 20121 | /* Transition: '<S1>:960' */ |
| 20122 | motor_DWork.is_XHHY_nb = motor_IN_Int3_l; |
| 20123 | |
| 20124 | /* Entry 'Int3': '<S1>:361' */ |
| 20125 | motor_DWork.chu_jd -= 0.01; |
| 20126 | |
| 20127 | /* Inport: '<Root>/JD_In' */ |
| 20128 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20129 | motor_B.JD_In = motor_U.JD_In; |
| 20130 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20131 | |
| 20132 | /* Inport: '<Root>/Encode_Sp' */ |
| 20133 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20134 | |
| 20135 | /* Inport: '<Root>/System_Order' */ |
| 20136 | motor_B.Slect_port = motor_U.System_Order; |
| 20137 | |
| 20138 | /* Inport: '<Root>/SGWY_In' */ |
| 20139 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20140 | |
| 20141 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20142 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20143 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20144 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20145 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20146 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20147 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20148 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20149 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20150 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20151 | &motor_DWork.chu_jd); |
| 20152 | |
| 20153 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20154 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20155 | if (tmp_0 < 65536.0) { |
| 20156 | if (tmp_0 >= 0.0) { |
| 20157 | tmp_1 = (uint16_T)tmp_0; |
| 20158 | } else { |
| 20159 | tmp_1 = 0U; |
| 20160 | } |
| 20161 | } else { |
| 20162 | tmp_1 = MAX_uint16_T; |
| 20163 | } |
| 20164 | |
| 20165 | motor_Y.PWMOUT = tmp_1; |
| 20166 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20167 | if (tmp_0 < 2.147483648E+9) { |
| 20168 | if (tmp_0 >= -2.147483648E+9) { |
| 20169 | tmp = (int32_T)tmp_0; |
| 20170 | } else { |
| 20171 | tmp = MIN_int32_T; |
| 20172 | } |
| 20173 | } else { |
| 20174 | tmp = MAX_int32_T; |
| 20175 | } |
| 20176 | |
| 20177 | motor_Y.JD_Out = tmp; |
| 20178 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20179 | if (tmp_0 < 2.147483648E+9) { |
| 20180 | if (tmp_0 >= -2.147483648E+9) { |
| 20181 | tmp = (int32_T)tmp_0; |
| 20182 | } else { |
| 20183 | tmp = MIN_int32_T; |
| 20184 | } |
| 20185 | } else { |
| 20186 | tmp = MAX_int32_T; |
| 20187 | } |
| 20188 | |
| 20189 | motor_Y.JD_Error = tmp; |
| 20190 | } else { |
| 20191 | /* Inport: '<Root>/JD_In' */ |
| 20192 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20193 | motor_B.JD_In = motor_U.JD_In; |
| 20194 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20195 | |
| 20196 | /* Inport: '<Root>/Encode_Sp' */ |
| 20197 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20198 | |
| 20199 | /* Inport: '<Root>/System_Order' */ |
| 20200 | motor_B.Slect_port = motor_U.System_Order; |
| 20201 | |
| 20202 | /* Inport: '<Root>/SGWY_In' */ |
| 20203 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20204 | |
| 20205 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20206 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20207 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20208 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20209 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20210 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20211 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20212 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20213 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20214 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20215 | &motor_DWork.chu_jd); |
| 20216 | |
| 20217 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20218 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20219 | if (tmp_0 < 65536.0) { |
| 20220 | if (tmp_0 >= 0.0) { |
| 20221 | tmp_1 = (uint16_T)tmp_0; |
| 20222 | } else { |
| 20223 | tmp_1 = 0U; |
| 20224 | } |
| 20225 | } else { |
| 20226 | tmp_1 = MAX_uint16_T; |
| 20227 | } |
| 20228 | |
| 20229 | motor_Y.PWMOUT = tmp_1; |
| 20230 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20231 | if (tmp_0 < 2.147483648E+9) { |
| 20232 | if (tmp_0 >= -2.147483648E+9) { |
| 20233 | tmp = (int32_T)tmp_0; |
| 20234 | } else { |
| 20235 | tmp = MIN_int32_T; |
| 20236 | } |
| 20237 | } else { |
| 20238 | tmp = MAX_int32_T; |
| 20239 | } |
| 20240 | |
| 20241 | motor_Y.JD_Out = tmp; |
| 20242 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20243 | if (tmp_0 < 2.147483648E+9) { |
| 20244 | if (tmp_0 >= -2.147483648E+9) { |
| 20245 | tmp = (int32_T)tmp_0; |
| 20246 | } else { |
| 20247 | tmp = MIN_int32_T; |
| 20248 | } |
| 20249 | } else { |
| 20250 | tmp = MAX_int32_T; |
| 20251 | } |
| 20252 | |
| 20253 | motor_Y.JD_Error = tmp; |
| 20254 | } |
| 20255 | break; |
| 20256 | |
| 20257 | default: |
| 20258 | /* During 'Int8': '<S1>:1016' */ |
| 20259 | if (motor_DWork.chu_jd > 16.0) { |
| 20260 | /* Transition: '<S1>:1015' */ |
| 20261 | motor_DWork.is_XHHY_nb = motor_IN_Int1; |
| 20262 | motor_DWork.temporalCounter_i2 = 0U; |
| 20263 | |
| 20264 | /* Entry 'Int1': '<S1>:359' */ |
| 20265 | motor_DWork.chu_jd += 0.002; |
| 20266 | |
| 20267 | /* Inport: '<Root>/JD_In' */ |
| 20268 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20269 | motor_B.JD_In = motor_U.JD_In; |
| 20270 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20271 | |
| 20272 | /* Inport: '<Root>/Encode_Sp' */ |
| 20273 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20274 | |
| 20275 | /* Inport: '<Root>/System_Order' */ |
| 20276 | motor_B.Slect_port = motor_U.System_Order; |
| 20277 | |
| 20278 | /* Inport: '<Root>/SGWY_In' */ |
| 20279 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20280 | |
| 20281 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20282 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20283 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20284 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20285 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20286 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20287 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20288 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20289 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20290 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20291 | &motor_DWork.chu_jd); |
| 20292 | |
| 20293 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20294 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20295 | if (tmp_0 < 65536.0) { |
| 20296 | if (tmp_0 >= 0.0) { |
| 20297 | tmp_1 = (uint16_T)tmp_0; |
| 20298 | } else { |
| 20299 | tmp_1 = 0U; |
| 20300 | } |
| 20301 | } else { |
| 20302 | tmp_1 = MAX_uint16_T; |
| 20303 | } |
| 20304 | |
| 20305 | motor_Y.PWMOUT = tmp_1; |
| 20306 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20307 | if (tmp_0 < 2.147483648E+9) { |
| 20308 | if (tmp_0 >= -2.147483648E+9) { |
| 20309 | tmp = (int32_T)tmp_0; |
| 20310 | } else { |
| 20311 | tmp = MIN_int32_T; |
| 20312 | } |
| 20313 | } else { |
| 20314 | tmp = MAX_int32_T; |
| 20315 | } |
| 20316 | |
| 20317 | motor_Y.JD_Out = tmp; |
| 20318 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20319 | if (tmp_0 < 2.147483648E+9) { |
| 20320 | if (tmp_0 >= -2.147483648E+9) { |
| 20321 | tmp = (int32_T)tmp_0; |
| 20322 | } else { |
| 20323 | tmp = MIN_int32_T; |
| 20324 | } |
| 20325 | } else { |
| 20326 | tmp = MAX_int32_T; |
| 20327 | } |
| 20328 | |
| 20329 | motor_Y.JD_Error = tmp; |
| 20330 | } else if (motor_U.Up_Limit == 0) { |
| 20331 | /* Transition: '<S1>:1013' */ |
| 20332 | /* 上限位开关低电平有效 */ |
| 20333 | motor_DWork.is_XHHY_nb = motor_IN_Int2_i; |
| 20334 | motor_DWork.temporalCounter_i2 = 0U; |
| 20335 | |
| 20336 | /* Entry 'Int2': '<S1>:360' */ |
| 20337 | motor_DWork.chu_jd += 0.002; |
| 20338 | |
| 20339 | /* Inport: '<Root>/JD_In' */ |
| 20340 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20341 | motor_B.JD_In = motor_U.JD_In; |
| 20342 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20343 | |
| 20344 | /* Inport: '<Root>/Encode_Sp' */ |
| 20345 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20346 | |
| 20347 | /* Inport: '<Root>/System_Order' */ |
| 20348 | motor_B.Slect_port = motor_U.System_Order; |
| 20349 | |
| 20350 | /* Inport: '<Root>/SGWY_In' */ |
| 20351 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20352 | |
| 20353 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20354 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20355 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20356 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20357 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20358 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20359 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20360 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20361 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20362 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20363 | &motor_DWork.chu_jd); |
| 20364 | |
| 20365 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20366 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20367 | if (tmp_0 < 65536.0) { |
| 20368 | if (tmp_0 >= 0.0) { |
| 20369 | tmp_1 = (uint16_T)tmp_0; |
| 20370 | } else { |
| 20371 | tmp_1 = 0U; |
| 20372 | } |
| 20373 | } else { |
| 20374 | tmp_1 = MAX_uint16_T; |
| 20375 | } |
| 20376 | |
| 20377 | motor_Y.PWMOUT = tmp_1; |
| 20378 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20379 | if (tmp_0 < 2.147483648E+9) { |
| 20380 | if (tmp_0 >= -2.147483648E+9) { |
| 20381 | tmp = (int32_T)tmp_0; |
| 20382 | } else { |
| 20383 | tmp = MIN_int32_T; |
| 20384 | } |
| 20385 | } else { |
| 20386 | tmp = MAX_int32_T; |
| 20387 | } |
| 20388 | |
| 20389 | motor_Y.JD_Out = tmp; |
| 20390 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20391 | if (tmp_0 < 2.147483648E+9) { |
| 20392 | if (tmp_0 >= -2.147483648E+9) { |
| 20393 | tmp = (int32_T)tmp_0; |
| 20394 | } else { |
| 20395 | tmp = MIN_int32_T; |
| 20396 | } |
| 20397 | } else { |
| 20398 | tmp = MAX_int32_T; |
| 20399 | } |
| 20400 | |
| 20401 | motor_Y.JD_Error = tmp; |
| 20402 | } else { |
| 20403 | motor_DWork.chu_jd += 0.01; |
| 20404 | |
| 20405 | /* Inport: '<Root>/JD_In' */ |
| 20406 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20407 | motor_B.JD_In = motor_U.JD_In; |
| 20408 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20409 | |
| 20410 | /* Inport: '<Root>/Encode_Sp' */ |
| 20411 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20412 | |
| 20413 | /* Inport: '<Root>/System_Order' */ |
| 20414 | motor_B.Slect_port = motor_U.System_Order; |
| 20415 | |
| 20416 | /* Inport: '<Root>/SGWY_In' */ |
| 20417 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20418 | |
| 20419 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20420 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20421 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20422 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20423 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20424 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20425 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20426 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20427 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20428 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20429 | &motor_DWork.chu_jd); |
| 20430 | |
| 20431 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20432 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20433 | if (tmp_0 < 65536.0) { |
| 20434 | if (tmp_0 >= 0.0) { |
| 20435 | tmp_1 = (uint16_T)tmp_0; |
| 20436 | } else { |
| 20437 | tmp_1 = 0U; |
| 20438 | } |
| 20439 | } else { |
| 20440 | tmp_1 = MAX_uint16_T; |
| 20441 | } |
| 20442 | |
| 20443 | motor_Y.PWMOUT = tmp_1; |
| 20444 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20445 | if (tmp_0 < 2.147483648E+9) { |
| 20446 | if (tmp_0 >= -2.147483648E+9) { |
| 20447 | tmp = (int32_T)tmp_0; |
| 20448 | } else { |
| 20449 | tmp = MIN_int32_T; |
| 20450 | } |
| 20451 | } else { |
| 20452 | tmp = MAX_int32_T; |
| 20453 | } |
| 20454 | |
| 20455 | motor_Y.JD_Out = tmp; |
| 20456 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20457 | if (tmp_0 < 2.147483648E+9) { |
| 20458 | if (tmp_0 >= -2.147483648E+9) { |
| 20459 | tmp = (int32_T)tmp_0; |
| 20460 | } else { |
| 20461 | tmp = MIN_int32_T; |
| 20462 | } |
| 20463 | } else { |
| 20464 | tmp = MAX_int32_T; |
| 20465 | } |
| 20466 | |
| 20467 | motor_Y.JD_Error = tmp; |
| 20468 | } |
| 20469 | break; |
| 20470 | } |
| 20471 | break; |
| 20472 | |
| 20473 | default: |
| 20474 | motor_XHZY_asnq(); |
| 20475 | break; |
| 20476 | } |
| 20477 | } |
| 20478 | |
| 20479 | /* Function for Chart: '<Root>/Chart' */ |
| 20480 | static void motor_XHHY_n(void) |
| 20481 | { |
| 20482 | uint16_T tmp; |
| 20483 | real_T tmp_0; |
| 20484 | int32_T saturatedUnaryMinus; |
| 20485 | |
| 20486 | /* Inport: '<Root>/Test_Mode' */ |
| 20487 | /* During 'XHHY': '<S1>:207' */ |
| 20488 | if (motor_U.Test_Mode == 2) { |
| 20489 | /* Transition: '<S1>:616' */ |
| 20490 | /* Transition: '<S1>:631' */ |
| 20491 | motor_DWork.XiaoDaShen = 1.0; |
| 20492 | |
| 20493 | /* Exit Internal 'XHHY': '<S1>:207' */ |
| 20494 | if (motor_DWork.is_XHHY_n == motor_IN_Sleeping_protect_2_m) { |
| 20495 | /* Exit 'Sleeping_protect_2': '<S1>:209' */ |
| 20496 | /* 关电磁制动 */ |
| 20497 | motor_Y.DCZD = false; |
| 20498 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 20499 | } else { |
| 20500 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 20501 | } |
| 20502 | |
| 20503 | motor_DWork.is_Algorithm_e = motor_IN_Limit_Up_Test_k; |
| 20504 | |
| 20505 | /* Entry 'Limit_Up_Test': '<S1>:340' */ |
| 20506 | /* 测试电子上限位 */ |
| 20507 | mo_enter_internal_Limit_Up_Test(); |
| 20508 | } else if (motor_U.Test_Mode == 3) { |
| 20509 | /* Transition: '<S1>:617' */ |
| 20510 | /* Transition: '<S1>:634' */ |
| 20511 | motor_DWork.XiaoDaShen = 1.0; |
| 20512 | |
| 20513 | /* Exit Internal 'XHHY': '<S1>:207' */ |
| 20514 | if (motor_DWork.is_XHHY_n == motor_IN_Sleeping_protect_2_m) { |
| 20515 | /* Exit 'Sleeping_protect_2': '<S1>:209' */ |
| 20516 | /* 关电磁制动 */ |
| 20517 | motor_Y.DCZD = false; |
| 20518 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 20519 | } else { |
| 20520 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 20521 | } |
| 20522 | |
| 20523 | motor_DWork.is_Algorithm_e = motor_IN_Limit_Down_Test_f; |
| 20524 | |
| 20525 | /* Entry 'Limit_Down_Test': '<S1>:315' */ |
| 20526 | /* 电子下限位检测 */ |
| 20527 | enter_internal_Limit_Down_Test(); |
| 20528 | } else { |
| 20529 | switch (motor_DWork.is_XHHY_n) { |
| 20530 | case motor_IN_Defualt: |
| 20531 | /* During 'Defualt': '<S1>:208' */ |
| 20532 | saturatedUnaryMinus = motor_Y.Encode_Pos; |
| 20533 | if (saturatedUnaryMinus < 0) { |
| 20534 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 20535 | saturatedUnaryMinus = MAX_int32_T; |
| 20536 | } else { |
| 20537 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 20538 | } |
| 20539 | } |
| 20540 | |
| 20541 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Pos_Zero) { |
| 20542 | /* Transition: '<S1>:637' */ |
| 20543 | motor_DWork.is_XHHY_n = motor_IN_XHHY_Wait_g; |
| 20544 | motor_DWork.temporalCounter_i2 = 0U; |
| 20545 | |
| 20546 | /* Entry 'XHHY_Wait': '<S1>:212' */ |
| 20547 | motor_Y.Open_Result = 1U; |
| 20548 | |
| 20549 | /* 开机状态位成功 */ |
| 20550 | motor_DWork.In_State = 2U; |
| 20551 | motor_DWork.KG_En = 1U; |
| 20552 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 20553 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(15.0 / |
| 20554 | motor_DWork.Ts)) { |
| 20555 | /* Transition: '<S1>:638' */ |
| 20556 | motor_DWork.is_XHHY_n = motor_IN_XHHY_Error; |
| 20557 | |
| 20558 | /* Entry 'XHHY_Error': '<S1>:210' */ |
| 20559 | motor_Y.Motor_En = true; |
| 20560 | |
| 20561 | /* 关电机 */ |
| 20562 | motor_Y.Open_Result = 2U; |
| 20563 | } else { |
| 20564 | /* Inport: '<Root>/JD_In' */ |
| 20565 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20566 | motor_B.JD_In = motor_U.JD_In; |
| 20567 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20568 | |
| 20569 | /* Inport: '<Root>/Encode_Sp' */ |
| 20570 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20571 | |
| 20572 | /* Inport: '<Root>/System_Order' */ |
| 20573 | motor_B.Slect_port = motor_U.System_Order; |
| 20574 | |
| 20575 | /* Inport: '<Root>/SGWY_In' */ |
| 20576 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20577 | |
| 20578 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20579 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20580 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20581 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20582 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20583 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20584 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20585 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20586 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20587 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20588 | &motor_DWork.chu_jd); |
| 20589 | |
| 20590 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20591 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20592 | if (tmp_0 < 65536.0) { |
| 20593 | if (tmp_0 >= 0.0) { |
| 20594 | tmp = (uint16_T)tmp_0; |
| 20595 | } else { |
| 20596 | tmp = 0U; |
| 20597 | } |
| 20598 | } else { |
| 20599 | tmp = MAX_uint16_T; |
| 20600 | } |
| 20601 | |
| 20602 | motor_Y.PWMOUT = tmp; |
| 20603 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20604 | if (tmp_0 < 2.147483648E+9) { |
| 20605 | if (tmp_0 >= -2.147483648E+9) { |
| 20606 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20607 | } else { |
| 20608 | saturatedUnaryMinus = MIN_int32_T; |
| 20609 | } |
| 20610 | } else { |
| 20611 | saturatedUnaryMinus = MAX_int32_T; |
| 20612 | } |
| 20613 | |
| 20614 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 20615 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20616 | if (tmp_0 < 2.147483648E+9) { |
| 20617 | if (tmp_0 >= -2.147483648E+9) { |
| 20618 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20619 | } else { |
| 20620 | saturatedUnaryMinus = MIN_int32_T; |
| 20621 | } |
| 20622 | } else { |
| 20623 | saturatedUnaryMinus = MAX_int32_T; |
| 20624 | } |
| 20625 | |
| 20626 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 20627 | } |
| 20628 | break; |
| 20629 | |
| 20630 | case motor_IN_Sleeping_protect_1_h: |
| 20631 | /* During 'Sleeping_protect_1': '<S1>:211' */ |
| 20632 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 20633 | /* Transition: '<S1>:639' */ |
| 20634 | motor_DWork.is_XHHY_n = motor_IN_Sleeping_protect_2_m; |
| 20635 | |
| 20636 | /* Entry 'Sleeping_protect_2': '<S1>:209' */ |
| 20637 | motor_Y.DCZD = true; |
| 20638 | |
| 20639 | /* 开电磁制动 */ |
| 20640 | } |
| 20641 | break; |
| 20642 | |
| 20643 | case motor_IN_Sleeping_protect_2_m: |
| 20644 | /* Inport: '<Root>/System_Order' */ |
| 20645 | /* During 'Sleeping_protect_2': '<S1>:209' */ |
| 20646 | if (motor_U.System_Order == 5) { |
| 20647 | /* Transition: '<S1>:640' */ |
| 20648 | /* Exit 'Sleeping_protect_2': '<S1>:209' */ |
| 20649 | /* 关电磁制动 */ |
| 20650 | motor_Y.DCZD = false; |
| 20651 | motor_DWork.is_XHHY_n = motor_IN_Sleeping_protect_3_f; |
| 20652 | motor_DWork.temporalCounter_i2 = 0U; |
| 20653 | |
| 20654 | /* Entry 'Sleeping_protect_3': '<S1>:223' */ |
| 20655 | motor_Y.Motor_En = false; |
| 20656 | |
| 20657 | /* 开电机 */ |
| 20658 | } |
| 20659 | break; |
| 20660 | |
| 20661 | case motor_IN_Sleeping_protect_3_f: |
| 20662 | /* During 'Sleeping_protect_3': '<S1>:223' */ |
| 20663 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 20664 | /* Transition: '<S1>:642' */ |
| 20665 | motor_DWork.is_XHHY_n = motor_IN_XHHY_Run_e; |
| 20666 | |
| 20667 | /* Entry 'XHHY_Run': '<S1>:213' */ |
| 20668 | motor_DWork.KG_En = 1U; |
| 20669 | motor_DWork.KG_JD = 0U; |
| 20670 | |
| 20671 | /* Inport: '<Root>/Showing_Angle' */ |
| 20672 | motor_DWork.Showing_Angle_Last = motor_U.Showing_Angle; |
| 20673 | |
| 20674 | /* Inport: '<Root>/Showing_T' */ |
| 20675 | motor_DWork.Showing_T_Last = motor_U.Showing_T; |
| 20676 | } |
| 20677 | break; |
| 20678 | |
| 20679 | case motor_IN_XHHY_Error: |
| 20680 | /* During 'XHHY_Error': '<S1>:210' */ |
| 20681 | break; |
| 20682 | |
| 20683 | case motor_IN_XHHY_Run_e: |
| 20684 | /* Inport: '<Root>/System_Order' incorporates: |
| 20685 | * Inport: '<Root>/Showing_Angle' |
| 20686 | * Inport: '<Root>/Showing_T' |
| 20687 | */ |
| 20688 | /* During 'XHHY_Run': '<S1>:213' */ |
| 20689 | if (motor_U.System_Order == 3) { |
| 20690 | /* Transition: '<S1>:644' */ |
| 20691 | /* Transition: '<S1>:625' */ |
| 20692 | moto_exit_internal_Showing_Mode(); |
| 20693 | motor_DWork.is_M_Run = motor_IN_Close; |
| 20694 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 20695 | motor_DWork.temporalCounter_i1 = 0U; |
| 20696 | |
| 20697 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 20698 | motor_Y.Open_Result = 4U; |
| 20699 | |
| 20700 | /* 正在关机 */ |
| 20701 | motor_Y.DCZD = false; |
| 20702 | |
| 20703 | /* 解除制动 */ |
| 20704 | motor_Y.Motor_En = false; |
| 20705 | |
| 20706 | /* 电机使能 */ |
| 20707 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 20708 | motor_DWork.EN_extern = 0U; |
| 20709 | } else if (motor_U.System_Order == 4) { |
| 20710 | /* Transition: '<S1>:641' */ |
| 20711 | motor_DWork.is_XHHY_n = motor_IN_Sleeping_protect_1_h; |
| 20712 | motor_DWork.temporalCounter_i2 = 0U; |
| 20713 | |
| 20714 | /* Entry 'Sleeping_protect_1': '<S1>:211' */ |
| 20715 | motor_Y.Motor_En = true; |
| 20716 | |
| 20717 | /* 关电机 */ |
| 20718 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 20719 | } else if ((motor_DWork.Showing_Angle_Last != motor_U.Showing_Angle) || |
| 20720 | (motor_DWork.Showing_T_Last != motor_U.Showing_T)) { |
| 20721 | /* Transition: '<S1>:947' */ |
| 20722 | motor_DWork.is_XHHY_n = motor_IN_Defualt; |
| 20723 | motor_DWork.temporalCounter_i2 = 0U; |
| 20724 | |
| 20725 | /* Entry 'Defualt': '<S1>:208' */ |
| 20726 | /* en:KG_En=uint8(0);KG_JD=uint8(1);KG_YJ=uint8(1); */ |
| 20727 | motor_DWork.KG_En = 1U; |
| 20728 | motor_DWork.KG_JD = 0U; |
| 20729 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 20730 | motor_DWork.chu_jd = 0.0; |
| 20731 | } else { |
| 20732 | /* Inport: '<Root>/Showing_Angle' */ |
| 20733 | /* Simulink Function 'Showing_XHHY': '<S1>:1050' */ |
| 20734 | motor_B.Showing_Angle_p = motor_U.Showing_Angle; |
| 20735 | |
| 20736 | /* Inport: '<Root>/Showing_T' */ |
| 20737 | motor_B.Showing_T_a = motor_U.Showing_T; |
| 20738 | |
| 20739 | /* Outputs for Function Call SubSystem: '<S1>/Showing_XHHY' */ |
| 20740 | motor_Showing_XHHY(motor_M, motor_B.Showing_Angle_p, motor_B.Showing_T_a, |
| 20741 | &motor_B.Showing_XHHY, (rtP_Showing_XHHY_motor *) |
| 20742 | &motor_P.Showing_XHHY, &motor_DWork.Angle_S); |
| 20743 | |
| 20744 | /* End of Outputs for SubSystem: '<S1>/Showing_XHHY' */ |
| 20745 | motor_DWork.chu_jd = motor_B.Showing_XHHY.DataTypeConversion1; |
| 20746 | |
| 20747 | /* Inport: '<Root>/JD_In' */ |
| 20748 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20749 | motor_B.JD_In = motor_U.JD_In; |
| 20750 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20751 | |
| 20752 | /* Inport: '<Root>/Encode_Sp' */ |
| 20753 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20754 | motor_B.Slect_port = motor_U.System_Order; |
| 20755 | |
| 20756 | /* Inport: '<Root>/SGWY_In' */ |
| 20757 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20758 | |
| 20759 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20760 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20761 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20762 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20763 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20764 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20765 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20766 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20767 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20768 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20769 | &motor_DWork.chu_jd); |
| 20770 | |
| 20771 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20772 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20773 | if (tmp_0 < 65536.0) { |
| 20774 | if (tmp_0 >= 0.0) { |
| 20775 | tmp = (uint16_T)tmp_0; |
| 20776 | } else { |
| 20777 | tmp = 0U; |
| 20778 | } |
| 20779 | } else { |
| 20780 | tmp = MAX_uint16_T; |
| 20781 | } |
| 20782 | |
| 20783 | motor_Y.PWMOUT = tmp; |
| 20784 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20785 | if (tmp_0 < 2.147483648E+9) { |
| 20786 | if (tmp_0 >= -2.147483648E+9) { |
| 20787 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20788 | } else { |
| 20789 | saturatedUnaryMinus = MIN_int32_T; |
| 20790 | } |
| 20791 | } else { |
| 20792 | saturatedUnaryMinus = MAX_int32_T; |
| 20793 | } |
| 20794 | |
| 20795 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 20796 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20797 | if (tmp_0 < 2.147483648E+9) { |
| 20798 | if (tmp_0 >= -2.147483648E+9) { |
| 20799 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20800 | } else { |
| 20801 | saturatedUnaryMinus = MIN_int32_T; |
| 20802 | } |
| 20803 | } else { |
| 20804 | saturatedUnaryMinus = MAX_int32_T; |
| 20805 | } |
| 20806 | |
| 20807 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 20808 | } |
| 20809 | break; |
| 20810 | |
| 20811 | case motor_IN_XHHY_Run1_d: |
| 20812 | /* Inport: '<Root>/Showing_Angle' */ |
| 20813 | /* During 'XHHY_Run1': '<S1>:941' */ |
| 20814 | if (motor_DWork.Showing_Angle0 >= motor_U.Showing_Angle) { |
| 20815 | /* Transition: '<S1>:948' */ |
| 20816 | motor_DWork.is_XHHY_n = motor_IN_XHHY_Run_e; |
| 20817 | |
| 20818 | /* Entry 'XHHY_Run': '<S1>:213' */ |
| 20819 | motor_DWork.KG_En = 1U; |
| 20820 | motor_DWork.KG_JD = 0U; |
| 20821 | motor_DWork.Showing_Angle_Last = motor_U.Showing_Angle; |
| 20822 | |
| 20823 | /* Inport: '<Root>/Showing_T' */ |
| 20824 | motor_DWork.Showing_T_Last = motor_U.Showing_T; |
| 20825 | } else { |
| 20826 | motor_DWork.Showing_Angle0 += 0.01; |
| 20827 | |
| 20828 | /* Simulink Function 'Showing_XHHY': '<S1>:1050' */ |
| 20829 | motor_B.Showing_Angle_p = motor_DWork.Showing_Angle0; |
| 20830 | |
| 20831 | /* Inport: '<Root>/Showing_T' */ |
| 20832 | motor_B.Showing_T_a = motor_U.Showing_T; |
| 20833 | |
| 20834 | /* Outputs for Function Call SubSystem: '<S1>/Showing_XHHY' */ |
| 20835 | motor_Showing_XHHY(motor_M, motor_B.Showing_Angle_p, motor_B.Showing_T_a, |
| 20836 | &motor_B.Showing_XHHY, (rtP_Showing_XHHY_motor *) |
| 20837 | &motor_P.Showing_XHHY, &motor_DWork.Angle_S); |
| 20838 | |
| 20839 | /* End of Outputs for SubSystem: '<S1>/Showing_XHHY' */ |
| 20840 | motor_DWork.chu_jd = motor_B.Showing_XHHY.DataTypeConversion1; |
| 20841 | |
| 20842 | /* Inport: '<Root>/JD_In' */ |
| 20843 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20844 | motor_B.JD_In = motor_U.JD_In; |
| 20845 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20846 | |
| 20847 | /* Inport: '<Root>/Encode_Sp' */ |
| 20848 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20849 | |
| 20850 | /* Inport: '<Root>/System_Order' */ |
| 20851 | motor_B.Slect_port = motor_U.System_Order; |
| 20852 | |
| 20853 | /* Inport: '<Root>/SGWY_In' */ |
| 20854 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20855 | |
| 20856 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20857 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20858 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20859 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20860 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20861 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20862 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20863 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20864 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20865 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20866 | &motor_DWork.chu_jd); |
| 20867 | |
| 20868 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20869 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20870 | if (tmp_0 < 65536.0) { |
| 20871 | if (tmp_0 >= 0.0) { |
| 20872 | tmp = (uint16_T)tmp_0; |
| 20873 | } else { |
| 20874 | tmp = 0U; |
| 20875 | } |
| 20876 | } else { |
| 20877 | tmp = MAX_uint16_T; |
| 20878 | } |
| 20879 | |
| 20880 | motor_Y.PWMOUT = tmp; |
| 20881 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20882 | if (tmp_0 < 2.147483648E+9) { |
| 20883 | if (tmp_0 >= -2.147483648E+9) { |
| 20884 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20885 | } else { |
| 20886 | saturatedUnaryMinus = MIN_int32_T; |
| 20887 | } |
| 20888 | } else { |
| 20889 | saturatedUnaryMinus = MAX_int32_T; |
| 20890 | } |
| 20891 | |
| 20892 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 20893 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20894 | if (tmp_0 < 2.147483648E+9) { |
| 20895 | if (tmp_0 >= -2.147483648E+9) { |
| 20896 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20897 | } else { |
| 20898 | saturatedUnaryMinus = MIN_int32_T; |
| 20899 | } |
| 20900 | } else { |
| 20901 | saturatedUnaryMinus = MAX_int32_T; |
| 20902 | } |
| 20903 | |
| 20904 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 20905 | } |
| 20906 | break; |
| 20907 | |
| 20908 | default: |
| 20909 | /* During 'XHHY_Wait': '<S1>:212' */ |
| 20910 | if (motor_DWork.temporalCounter_i2 >= 100U) { |
| 20911 | /* Transition: '<S1>:643' */ |
| 20912 | motor_DWork.is_XHHY_n = motor_IN_XHHY_Run1_d; |
| 20913 | |
| 20914 | /* Entry 'XHHY_Run1': '<S1>:941' */ |
| 20915 | motor_DWork.KG_JD = 0U; |
| 20916 | motor_DWork.Showing_Angle0 = 0.0; |
| 20917 | } else { |
| 20918 | /* Inport: '<Root>/JD_In' */ |
| 20919 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 20920 | motor_B.JD_In = motor_U.JD_In; |
| 20921 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 20922 | |
| 20923 | /* Inport: '<Root>/Encode_Sp' */ |
| 20924 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 20925 | |
| 20926 | /* Inport: '<Root>/System_Order' */ |
| 20927 | motor_B.Slect_port = motor_U.System_Order; |
| 20928 | |
| 20929 | /* Inport: '<Root>/SGWY_In' */ |
| 20930 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 20931 | |
| 20932 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 20933 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 20934 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 20935 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 20936 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 20937 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 20938 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 20939 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 20940 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 20941 | &motor_DWork.P_KP, &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 20942 | &motor_DWork.chu_jd); |
| 20943 | |
| 20944 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 20945 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 20946 | if (tmp_0 < 65536.0) { |
| 20947 | if (tmp_0 >= 0.0) { |
| 20948 | tmp = (uint16_T)tmp_0; |
| 20949 | } else { |
| 20950 | tmp = 0U; |
| 20951 | } |
| 20952 | } else { |
| 20953 | tmp = MAX_uint16_T; |
| 20954 | } |
| 20955 | |
| 20956 | motor_Y.PWMOUT = tmp; |
| 20957 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 20958 | if (tmp_0 < 2.147483648E+9) { |
| 20959 | if (tmp_0 >= -2.147483648E+9) { |
| 20960 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20961 | } else { |
| 20962 | saturatedUnaryMinus = MIN_int32_T; |
| 20963 | } |
| 20964 | } else { |
| 20965 | saturatedUnaryMinus = MAX_int32_T; |
| 20966 | } |
| 20967 | |
| 20968 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 20969 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 20970 | if (tmp_0 < 2.147483648E+9) { |
| 20971 | if (tmp_0 >= -2.147483648E+9) { |
| 20972 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 20973 | } else { |
| 20974 | saturatedUnaryMinus = MIN_int32_T; |
| 20975 | } |
| 20976 | } else { |
| 20977 | saturatedUnaryMinus = MAX_int32_T; |
| 20978 | } |
| 20979 | |
| 20980 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 20981 | |
| 20982 | /* PWMOUT=2500; */ |
| 20983 | } |
| 20984 | break; |
| 20985 | } |
| 20986 | } |
| 20987 | |
| 20988 | /* End of Inport: '<Root>/Test_Mode' */ |
| 20989 | } |
| 20990 | |
| 20991 | /* Function for Chart: '<Root>/Chart' */ |
| 20992 | static void motor_Algorithm_ac(void) |
| 20993 | { |
| 20994 | real_T tmp; |
| 20995 | int32_T saturatedUnaryMinus; |
| 20996 | |
| 20997 | /* During 'Algorithm': '<S1>:205' */ |
| 20998 | switch (motor_DWork.is_Algorithm_e) { |
| 20999 | case motor_IN_Defualt: |
| 21000 | /* Inport: '<Root>/Motor_Num' */ |
| 21001 | /* During 'Defualt': '<S1>:206' */ |
| 21002 | if (motor_U.Motor_Num == 3) { |
| 21003 | /* Transition: '<S1>:615' */ |
| 21004 | motor_DWork.is_Algorithm_e = motor_IN_XHHY_m; |
| 21005 | |
| 21006 | /* Entry Internal 'XHHY': '<S1>:207' */ |
| 21007 | /* Transition: '<S1>:636' */ |
| 21008 | motor_DWork.is_XHHY_n = motor_IN_Defualt; |
| 21009 | motor_DWork.temporalCounter_i2 = 0U; |
| 21010 | |
| 21011 | /* Entry 'Defualt': '<S1>:208' */ |
| 21012 | /* en:KG_En=uint8(0);KG_JD=uint8(1);KG_YJ=uint8(1); */ |
| 21013 | motor_DWork.KG_En = 1U; |
| 21014 | motor_DWork.KG_JD = 0U; |
| 21015 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 21016 | motor_DWork.chu_jd = 0.0; |
| 21017 | } else if (motor_U.Motor_Num == 2) { |
| 21018 | /* Transition: '<S1>:619' */ |
| 21019 | motor_DWork.is_Algorithm_e = motor_IN_HY; |
| 21020 | |
| 21021 | /* Entry Internal 'HY': '<S1>:214' */ |
| 21022 | /* Transition: '<S1>:645' */ |
| 21023 | motor_DWork.is_HY_e = motor_IN_Defualt1; |
| 21024 | motor_DWork.temporalCounter_i2 = 0U; |
| 21025 | |
| 21026 | /* Entry 'Defualt1': '<S1>:215' */ |
| 21027 | motor_DWork.KG_JD = 0U; |
| 21028 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 21029 | motor_DWork.chu_jd = 0.0; |
| 21030 | motor_DWork.Saturation_limit_speed = 5000.0; |
| 21031 | } else { |
| 21032 | if (motor_U.Motor_Num == 1) { |
| 21033 | /* Transition: '<S1>:621' */ |
| 21034 | motor_DWork.is_Algorithm_e = motor_IN_XHZY_p; |
| 21035 | |
| 21036 | /* Entry Internal 'XHZY': '<S1>:220' */ |
| 21037 | /* Transition: '<S1>:654' */ |
| 21038 | motor_DWork.is_XHZY_h = motor_IN_Defualt; |
| 21039 | motor_DWork.temporalCounter_i2 = 0U; |
| 21040 | |
| 21041 | /* Entry 'Defualt': '<S1>:221' */ |
| 21042 | /* en:KG_En=uint8(0);KG_JD=uint8(1);KG_YJ=uint8(1); */ |
| 21043 | motor_DWork.KG_En = 1U; |
| 21044 | motor_DWork.KG_JD = 0U; |
| 21045 | motor_DWork.KG_YJ = 0U; |
| 21046 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 21047 | motor_DWork.chu_jd = 0.0; |
| 21048 | } |
| 21049 | } |
| 21050 | |
| 21051 | /* End of Inport: '<Root>/Motor_Num' */ |
| 21052 | break; |
| 21053 | |
| 21054 | case motor_IN_HY: |
| 21055 | /* Inport: '<Root>/Test_Mode' */ |
| 21056 | /* During 'HY': '<S1>:214' */ |
| 21057 | if (motor_U.Test_Mode == 2) { |
| 21058 | /* Transition: '<S1>:622' */ |
| 21059 | /* Transition: '<S1>:631' */ |
| 21060 | motor_DWork.XiaoDaShen = 1.0; |
| 21061 | |
| 21062 | /* Exit Internal 'HY': '<S1>:214' */ |
| 21063 | if (motor_DWork.is_HY_e == motor_IN_Sleeping_protect_2_m) { |
| 21064 | /* Exit 'Sleeping_protect_2': '<S1>:179' */ |
| 21065 | /* 关电磁制动 */ |
| 21066 | motor_Y.DCZD = false; |
| 21067 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 21068 | } else { |
| 21069 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 21070 | } |
| 21071 | |
| 21072 | motor_DWork.is_Algorithm_e = motor_IN_Limit_Up_Test_k; |
| 21073 | |
| 21074 | /* Entry 'Limit_Up_Test': '<S1>:340' */ |
| 21075 | /* 测试电子上限位 */ |
| 21076 | mo_enter_internal_Limit_Up_Test(); |
| 21077 | } else if (motor_U.Test_Mode == 3) { |
| 21078 | /* Transition: '<S1>:624' */ |
| 21079 | /* Transition: '<S1>:634' */ |
| 21080 | motor_DWork.XiaoDaShen = 1.0; |
| 21081 | |
| 21082 | /* Exit Internal 'HY': '<S1>:214' */ |
| 21083 | if (motor_DWork.is_HY_e == motor_IN_Sleeping_protect_2_m) { |
| 21084 | /* Exit 'Sleeping_protect_2': '<S1>:179' */ |
| 21085 | /* 关电磁制动 */ |
| 21086 | motor_Y.DCZD = false; |
| 21087 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 21088 | } else { |
| 21089 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 21090 | } |
| 21091 | |
| 21092 | motor_DWork.is_Algorithm_e = motor_IN_Limit_Down_Test_f; |
| 21093 | |
| 21094 | /* Entry 'Limit_Down_Test': '<S1>:315' */ |
| 21095 | /* 电子下限位检测 */ |
| 21096 | enter_internal_Limit_Down_Test(); |
| 21097 | } else { |
| 21098 | switch (motor_DWork.is_HY_e) { |
| 21099 | case motor_IN_Defualt1: |
| 21100 | /* During 'Defualt1': '<S1>:215' */ |
| 21101 | saturatedUnaryMinus = motor_Y.Encode_Pos; |
| 21102 | if (saturatedUnaryMinus < 0) { |
| 21103 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 21104 | saturatedUnaryMinus = MAX_int32_T; |
| 21105 | } else { |
| 21106 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 21107 | } |
| 21108 | } |
| 21109 | |
| 21110 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Pos_Zero) { |
| 21111 | /* Transition: '<S1>:647' */ |
| 21112 | motor_DWork.is_HY_e = motor_IN_XHHY_Wait_g; |
| 21113 | motor_DWork.temporalCounter_i2 = 0U; |
| 21114 | |
| 21115 | /* Entry 'XHHY_Wait': '<S1>:218' */ |
| 21116 | motor_Y.Open_Result = 1U; |
| 21117 | |
| 21118 | /* 开机状态位成功 */ |
| 21119 | motor_DWork.In_State = 2U; |
| 21120 | } else if (motor_DWork.temporalCounter_i2 >= (uint32_T)(15.0 / |
| 21121 | motor_DWork.Ts)) { |
| 21122 | /* Transition: '<S1>:648' */ |
| 21123 | motor_DWork.is_HY_e = motor_IN_XHHY_Error; |
| 21124 | |
| 21125 | /* Entry 'XHHY_Error': '<S1>:217' */ |
| 21126 | motor_Y.Motor_En = true; |
| 21127 | |
| 21128 | /* 关电机 */ |
| 21129 | motor_Y.Open_Result = 2U; |
| 21130 | } else { |
| 21131 | /* Inport: '<Root>/JD_In' */ |
| 21132 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 21133 | motor_B.JD_In_n = motor_U.JD_In; |
| 21134 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 21135 | |
| 21136 | /* Inport: '<Root>/System_Order' */ |
| 21137 | motor_B.Slect_port_e = motor_U.System_Order; |
| 21138 | |
| 21139 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 21140 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 21141 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 21142 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 21143 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 21144 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 21145 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 21146 | &motor_DWork.Saturation_limit_speed, |
| 21147 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 21148 | &motor_DWork.chu_jd); |
| 21149 | |
| 21150 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 21151 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 21152 | tmp = motor_B.Motor_HYDG1.KP_e; |
| 21153 | if (tmp < 2.147483648E+9) { |
| 21154 | if (tmp >= -2.147483648E+9) { |
| 21155 | saturatedUnaryMinus = (int32_T)tmp; |
| 21156 | } else { |
| 21157 | saturatedUnaryMinus = MIN_int32_T; |
| 21158 | } |
| 21159 | } else { |
| 21160 | saturatedUnaryMinus = MAX_int32_T; |
| 21161 | } |
| 21162 | |
| 21163 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21164 | tmp = motor_B.Motor_HYDG1.KP_JD; |
| 21165 | if (tmp < 2.147483648E+9) { |
| 21166 | if (tmp >= -2.147483648E+9) { |
| 21167 | saturatedUnaryMinus = (int32_T)tmp; |
| 21168 | } else { |
| 21169 | saturatedUnaryMinus = MIN_int32_T; |
| 21170 | } |
| 21171 | } else { |
| 21172 | saturatedUnaryMinus = MAX_int32_T; |
| 21173 | } |
| 21174 | |
| 21175 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21176 | } |
| 21177 | break; |
| 21178 | |
| 21179 | case motor_IN_Sleeping_protect_1_h: |
| 21180 | /* During 'Sleeping_protect_1': '<S1>:229' */ |
| 21181 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 21182 | { |
| 21183 | /* Transition: '<S1>:646' */ |
| 21184 | motor_DWork.is_HY_e = motor_IN_Sleeping_protect_2_m; |
| 21185 | |
| 21186 | /* Entry 'Sleeping_protect_2': '<S1>:179' */ |
| 21187 | motor_Y.DCZD = true; |
| 21188 | |
| 21189 | /* 开电磁制动 */ |
| 21190 | } |
| 21191 | break; |
| 21192 | |
| 21193 | case motor_IN_Sleeping_protect_2_m: |
| 21194 | /* Inport: '<Root>/System_Order' */ |
| 21195 | /* During 'Sleeping_protect_2': '<S1>:179' */ |
| 21196 | if (motor_U.System_Order == 5) { |
| 21197 | /* Transition: '<S1>:649' */ |
| 21198 | /* Exit 'Sleeping_protect_2': '<S1>:179' */ |
| 21199 | /* 关电磁制动 */ |
| 21200 | motor_Y.DCZD = false; |
| 21201 | motor_DWork.is_HY_e = motor_IN_Sleeping_protect_3_f; |
| 21202 | motor_DWork.temporalCounter_i2 = 0U; |
| 21203 | |
| 21204 | /* Entry 'Sleeping_protect_3': '<S1>:158' */ |
| 21205 | motor_Y.Motor_En = false; |
| 21206 | |
| 21207 | /* 开电机 */ |
| 21208 | } |
| 21209 | break; |
| 21210 | |
| 21211 | case motor_IN_Sleeping_protect_3_f: |
| 21212 | /* During 'Sleeping_protect_3': '<S1>:158' */ |
| 21213 | if (motor_DWork.temporalCounter_i2 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 21214 | { |
| 21215 | /* Transition: '<S1>:652' */ |
| 21216 | motor_DWork.is_HY_e = motor_IN_Defualt1; |
| 21217 | motor_DWork.temporalCounter_i2 = 0U; |
| 21218 | |
| 21219 | /* Entry 'Defualt1': '<S1>:215' */ |
| 21220 | motor_DWork.KG_JD = 0U; |
| 21221 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 21222 | motor_DWork.chu_jd = 0.0; |
| 21223 | motor_DWork.Saturation_limit_speed = 5000.0; |
| 21224 | } |
| 21225 | break; |
| 21226 | |
| 21227 | case motor_IN_XHHY_Error: |
| 21228 | /* During 'XHHY_Error': '<S1>:217' */ |
| 21229 | break; |
| 21230 | |
| 21231 | case motor_IN_XHHY_Run_e: |
| 21232 | /* Inport: '<Root>/System_Order' incorporates: |
| 21233 | * Inport: '<Root>/Showing_Angle' |
| 21234 | * Inport: '<Root>/Showing_T' |
| 21235 | */ |
| 21236 | /* During 'XHHY_Run': '<S1>:219' */ |
| 21237 | if (motor_U.System_Order == 3) { |
| 21238 | /* Transition: '<S1>:651' */ |
| 21239 | /* Transition: '<S1>:625' */ |
| 21240 | moto_exit_internal_Showing_Mode(); |
| 21241 | motor_DWork.is_M_Run = motor_IN_Close; |
| 21242 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 21243 | motor_DWork.temporalCounter_i1 = 0U; |
| 21244 | |
| 21245 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 21246 | motor_Y.Open_Result = 4U; |
| 21247 | |
| 21248 | /* 正在关机 */ |
| 21249 | motor_Y.DCZD = false; |
| 21250 | |
| 21251 | /* 解除制动 */ |
| 21252 | motor_Y.Motor_En = false; |
| 21253 | |
| 21254 | /* 电机使能 */ |
| 21255 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 21256 | motor_DWork.EN_extern = 0U; |
| 21257 | } else if (motor_U.System_Order == 4) { |
| 21258 | /* Transition: '<S1>:650' */ |
| 21259 | motor_DWork.is_HY_e = motor_IN_Sleeping_protect_1_h; |
| 21260 | motor_DWork.temporalCounter_i2 = 0U; |
| 21261 | |
| 21262 | /* Entry 'Sleeping_protect_1': '<S1>:229' */ |
| 21263 | motor_Y.Motor_En = true; |
| 21264 | |
| 21265 | /* 关电机 */ |
| 21266 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 21267 | } else if ((motor_DWork.Showing_Angle_Last != motor_U.Showing_Angle) || |
| 21268 | (motor_DWork.Showing_T_Last != motor_U.Showing_T)) { |
| 21269 | /* Transition: '<S1>:937' */ |
| 21270 | motor_DWork.is_HY_e = motor_IN_Defualt1; |
| 21271 | motor_DWork.temporalCounter_i2 = 0U; |
| 21272 | |
| 21273 | /* Entry 'Defualt1': '<S1>:215' */ |
| 21274 | motor_DWork.KG_JD = 0U; |
| 21275 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 21276 | motor_DWork.chu_jd = 0.0; |
| 21277 | motor_DWork.Saturation_limit_speed = 5000.0; |
| 21278 | } else { |
| 21279 | /* Inport: '<Root>/Showing_Angle' */ |
| 21280 | /* [PWMOUT,JD_Error,JD_Out] = Motor_HYDG1(JD_In,Encode_Pos,System_Order): */ |
| 21281 | /* Simulink Function 'Showing': '<S1>:180' */ |
| 21282 | motor_B.Showing_Angle = motor_U.Showing_Angle; |
| 21283 | |
| 21284 | /* Inport: '<Root>/Showing_T' */ |
| 21285 | motor_B.Showing_T = motor_U.Showing_T; |
| 21286 | |
| 21287 | /* Outputs for Function Call SubSystem: '<S1>/Showing' */ |
| 21288 | motor_Showing(motor_M, motor_B.Showing_Angle, motor_B.Showing_T, |
| 21289 | &motor_B.Showing, (rtP_Showing_motor *)&motor_P.Showing, |
| 21290 | &motor_DWork.Angle_S); |
| 21291 | |
| 21292 | /* End of Outputs for SubSystem: '<S1>/Showing' */ |
| 21293 | motor_DWork.chu_jd = motor_B.Showing.DataTypeConversion1; |
| 21294 | |
| 21295 | /* Inport: '<Root>/JD_In' */ |
| 21296 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 21297 | motor_B.JD_In_n = motor_U.JD_In; |
| 21298 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 21299 | motor_B.Slect_port_e = motor_U.System_Order; |
| 21300 | |
| 21301 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 21302 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 21303 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 21304 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 21305 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 21306 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 21307 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 21308 | &motor_DWork.Saturation_limit_speed, |
| 21309 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 21310 | &motor_DWork.chu_jd); |
| 21311 | |
| 21312 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 21313 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 21314 | tmp = motor_B.Motor_HYDG1.KP_e; |
| 21315 | if (tmp < 2.147483648E+9) { |
| 21316 | if (tmp >= -2.147483648E+9) { |
| 21317 | saturatedUnaryMinus = (int32_T)tmp; |
| 21318 | } else { |
| 21319 | saturatedUnaryMinus = MIN_int32_T; |
| 21320 | } |
| 21321 | } else { |
| 21322 | saturatedUnaryMinus = MAX_int32_T; |
| 21323 | } |
| 21324 | |
| 21325 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21326 | tmp = motor_B.Motor_HYDG1.KP_JD; |
| 21327 | if (tmp < 2.147483648E+9) { |
| 21328 | if (tmp >= -2.147483648E+9) { |
| 21329 | saturatedUnaryMinus = (int32_T)tmp; |
| 21330 | } else { |
| 21331 | saturatedUnaryMinus = MIN_int32_T; |
| 21332 | } |
| 21333 | } else { |
| 21334 | saturatedUnaryMinus = MAX_int32_T; |
| 21335 | } |
| 21336 | |
| 21337 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21338 | } |
| 21339 | break; |
| 21340 | |
| 21341 | case motor_IN_XHHY_Run1_d: |
| 21342 | /* Inport: '<Root>/Showing_Angle' */ |
| 21343 | /* During 'XHHY_Run1': '<S1>:935' */ |
| 21344 | if (motor_DWork.Showing_Angle0 >= motor_U.Showing_Angle) { |
| 21345 | /* Transition: '<S1>:936' */ |
| 21346 | motor_DWork.is_HY_e = motor_IN_XHHY_Run_e; |
| 21347 | |
| 21348 | /* Entry 'XHHY_Run': '<S1>:219' */ |
| 21349 | motor_DWork.Showing_Angle_Last = motor_U.Showing_Angle; |
| 21350 | |
| 21351 | /* Inport: '<Root>/Showing_T' */ |
| 21352 | motor_DWork.Showing_T_Last = motor_U.Showing_T; |
| 21353 | } else { |
| 21354 | motor_DWork.Showing_Angle0 += 0.01; |
| 21355 | |
| 21356 | /* Simulink Function 'Showing': '<S1>:180' */ |
| 21357 | motor_B.Showing_Angle = motor_DWork.Showing_Angle0; |
| 21358 | |
| 21359 | /* Inport: '<Root>/Showing_T' */ |
| 21360 | motor_B.Showing_T = motor_U.Showing_T; |
| 21361 | |
| 21362 | /* Outputs for Function Call SubSystem: '<S1>/Showing' */ |
| 21363 | motor_Showing(motor_M, motor_B.Showing_Angle, motor_B.Showing_T, |
| 21364 | &motor_B.Showing, (rtP_Showing_motor *)&motor_P.Showing, |
| 21365 | &motor_DWork.Angle_S); |
| 21366 | |
| 21367 | /* End of Outputs for SubSystem: '<S1>/Showing' */ |
| 21368 | motor_DWork.chu_jd = motor_B.Showing.DataTypeConversion1; |
| 21369 | |
| 21370 | /* Inport: '<Root>/JD_In' */ |
| 21371 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 21372 | motor_B.JD_In_n = motor_U.JD_In; |
| 21373 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 21374 | |
| 21375 | /* Inport: '<Root>/System_Order' */ |
| 21376 | motor_B.Slect_port_e = motor_U.System_Order; |
| 21377 | |
| 21378 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 21379 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 21380 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 21381 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 21382 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 21383 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 21384 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 21385 | &motor_DWork.Saturation_limit_speed, |
| 21386 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 21387 | &motor_DWork.chu_jd); |
| 21388 | |
| 21389 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 21390 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 21391 | tmp = motor_B.Motor_HYDG1.KP_e; |
| 21392 | if (tmp < 2.147483648E+9) { |
| 21393 | if (tmp >= -2.147483648E+9) { |
| 21394 | saturatedUnaryMinus = (int32_T)tmp; |
| 21395 | } else { |
| 21396 | saturatedUnaryMinus = MIN_int32_T; |
| 21397 | } |
| 21398 | } else { |
| 21399 | saturatedUnaryMinus = MAX_int32_T; |
| 21400 | } |
| 21401 | |
| 21402 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21403 | tmp = motor_B.Motor_HYDG1.KP_JD; |
| 21404 | if (tmp < 2.147483648E+9) { |
| 21405 | if (tmp >= -2.147483648E+9) { |
| 21406 | saturatedUnaryMinus = (int32_T)tmp; |
| 21407 | } else { |
| 21408 | saturatedUnaryMinus = MIN_int32_T; |
| 21409 | } |
| 21410 | } else { |
| 21411 | saturatedUnaryMinus = MAX_int32_T; |
| 21412 | } |
| 21413 | |
| 21414 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21415 | } |
| 21416 | break; |
| 21417 | |
| 21418 | default: |
| 21419 | /* During 'XHHY_Wait': '<S1>:218' */ |
| 21420 | if (motor_DWork.temporalCounter_i2 >= 100U) { |
| 21421 | /* Transition: '<S1>:653' */ |
| 21422 | motor_DWork.is_HY_e = motor_IN_XHHY_Run1_d; |
| 21423 | |
| 21424 | /* Entry 'XHHY_Run1': '<S1>:935' */ |
| 21425 | motor_DWork.KG_JD = 0U; |
| 21426 | motor_DWork.Showing_Angle0 = 0.0; |
| 21427 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 21428 | motor_DWork.Rate_limit_speed = 50000.0; |
| 21429 | motor_DWork.Saturation_limit_speed = 16000.0; |
| 21430 | } else { |
| 21431 | /* Inport: '<Root>/JD_In' */ |
| 21432 | /* Simulink Function 'Motor_HYDG1': '<S1>:115' */ |
| 21433 | motor_B.JD_In_n = motor_U.JD_In; |
| 21434 | motor_B.Encode_Pos_cm = motor_Y.Encode_Pos; |
| 21435 | |
| 21436 | /* Inport: '<Root>/System_Order' */ |
| 21437 | motor_B.Slect_port_e = motor_U.System_Order; |
| 21438 | |
| 21439 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG1' */ |
| 21440 | motor_Motor_HYDG1(motor_M, motor_B.JD_In_n, motor_B.Encode_Pos_cm, |
| 21441 | motor_B.Slect_port_e, &motor_B.Motor_HYDG1, |
| 21442 | &motor_DWork.Motor_HYDG1, (rtP_Motor_HYDG1_motor *) |
| 21443 | &motor_P.Motor_HYDG1, &motor_DWork.JD_HYDG, |
| 21444 | &motor_DWork.JD_HYDG_HC, &motor_DWork.KG_JD, |
| 21445 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 21446 | &motor_DWork.Saturation_limit_speed, |
| 21447 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 21448 | &motor_DWork.chu_jd); |
| 21449 | |
| 21450 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG1' */ |
| 21451 | motor_Y.PWMOUT = motor_B.Motor_HYDG1.DataTypeConversion3; |
| 21452 | tmp = motor_B.Motor_HYDG1.KP_e; |
| 21453 | if (tmp < 2.147483648E+9) { |
| 21454 | if (tmp >= -2.147483648E+9) { |
| 21455 | saturatedUnaryMinus = (int32_T)tmp; |
| 21456 | } else { |
| 21457 | saturatedUnaryMinus = MIN_int32_T; |
| 21458 | } |
| 21459 | } else { |
| 21460 | saturatedUnaryMinus = MAX_int32_T; |
| 21461 | } |
| 21462 | |
| 21463 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21464 | tmp = motor_B.Motor_HYDG1.KP_JD; |
| 21465 | if (tmp < 2.147483648E+9) { |
| 21466 | if (tmp >= -2.147483648E+9) { |
| 21467 | saturatedUnaryMinus = (int32_T)tmp; |
| 21468 | } else { |
| 21469 | saturatedUnaryMinus = MIN_int32_T; |
| 21470 | } |
| 21471 | } else { |
| 21472 | saturatedUnaryMinus = MAX_int32_T; |
| 21473 | } |
| 21474 | |
| 21475 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21476 | |
| 21477 | /* PWMOUT=2500; */ |
| 21478 | } |
| 21479 | break; |
| 21480 | } |
| 21481 | } |
| 21482 | |
| 21483 | /* End of Inport: '<Root>/Test_Mode' */ |
| 21484 | break; |
| 21485 | |
| 21486 | case motor_IN_Limit_Down_Test_f: |
| 21487 | motor_Limit_Down_Test_b(); |
| 21488 | break; |
| 21489 | |
| 21490 | case motor_IN_Limit_Up_Test_k: |
| 21491 | motor_Limit_Up_Test_a(); |
| 21492 | break; |
| 21493 | |
| 21494 | case motor_IN_XHHY_m: |
| 21495 | motor_XHHY_n(); |
| 21496 | break; |
| 21497 | |
| 21498 | default: |
| 21499 | motor_XHZY(); |
| 21500 | break; |
| 21501 | } |
| 21502 | } |
| 21503 | |
| 21504 | /* Function for Chart: '<Root>/Chart' */ |
| 21505 | static void motor_Showing_Mode(void) |
| 21506 | { |
| 21507 | /* During 'Showing_Mode': '<S1>:51' */ |
| 21508 | if (motor_DWork.is_Showing_Mode == motor_IN_RUN) { |
| 21509 | /* During 'RUN': '<S1>:186' */ |
| 21510 | motor_Algorithm_ac(); |
| 21511 | if (motor_DWork.is_Showing_Mode == motor_IN_RUN) { |
| 21512 | /* During 'Limit_Check': '<S1>:200' */ |
| 21513 | switch (motor_DWork.is_Limit_Check_j) { |
| 21514 | case motor_IN_defult_bq: |
| 21515 | /* During 'defult': '<S1>:202' */ |
| 21516 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) |
| 21517 | { |
| 21518 | /* Transition: '<S1>:607' */ |
| 21519 | motor_DWork.is_Limit_Check_j = motor_IN_p1_aqc; |
| 21520 | |
| 21521 | /* Entry 'p1': '<S1>:201' */ |
| 21522 | motor_Y.Flag_Down_limit = 1U; |
| 21523 | motor_Y.Flag_Up_limit = 1U; |
| 21524 | |
| 21525 | /* Flag_Up_GZ_limit=1; |
| 21526 | Flag_Down_GZ_limit=1; */ |
| 21527 | } |
| 21528 | break; |
| 21529 | |
| 21530 | case motor_IN_p1_aqc: |
| 21531 | /* Inport: '<Root>/Up_Limit' incorporates: |
| 21532 | * Inport: '<Root>/Down_Limit' |
| 21533 | */ |
| 21534 | /* During 'p1': '<S1>:201' */ |
| 21535 | if ((motor_U.Up_Limit == 0) && (motor_DWork.XiaoDaShen == 0.0)) { |
| 21536 | /* Transition: '<S1>:608' */ |
| 21537 | motor_DWork.is_Limit_Check_j = motor_IN_p2_kb; |
| 21538 | |
| 21539 | /* Entry 'p2': '<S1>:203' */ |
| 21540 | motor_Y.Flag_Up_limit = 0U; |
| 21541 | } else { |
| 21542 | if ((motor_U.Down_Limit == 0) && (motor_DWork.XiaoDaShen == 0.0)) { |
| 21543 | /* Transition: '<S1>:610' */ |
| 21544 | motor_DWork.is_Limit_Check_j = motor_IN_p3_ex; |
| 21545 | |
| 21546 | /* Entry 'p3': '<S1>:204' */ |
| 21547 | motor_Y.Flag_Down_limit = 0U; |
| 21548 | } |
| 21549 | } |
| 21550 | break; |
| 21551 | |
| 21552 | case motor_IN_p2_kb: |
| 21553 | /* Inport: '<Root>/Up_Limit' */ |
| 21554 | /* During 'p2': '<S1>:203' */ |
| 21555 | if (motor_U.Up_Limit == 1) { |
| 21556 | /* Transition: '<S1>:609' */ |
| 21557 | motor_DWork.is_Limit_Check_j = motor_IN_p1_aqc; |
| 21558 | |
| 21559 | /* Entry 'p1': '<S1>:201' */ |
| 21560 | motor_Y.Flag_Down_limit = 1U; |
| 21561 | motor_Y.Flag_Up_limit = 1U; |
| 21562 | |
| 21563 | /* Flag_Up_GZ_limit=1; |
| 21564 | Flag_Down_GZ_limit=1; */ |
| 21565 | } |
| 21566 | break; |
| 21567 | |
| 21568 | default: |
| 21569 | /* Inport: '<Root>/Down_Limit' */ |
| 21570 | /* During 'p3': '<S1>:204' */ |
| 21571 | if (motor_U.Down_Limit == 1) { |
| 21572 | /* Transition: '<S1>:611' */ |
| 21573 | motor_DWork.is_Limit_Check_j = motor_IN_p1_aqc; |
| 21574 | |
| 21575 | /* Entry 'p1': '<S1>:201' */ |
| 21576 | motor_Y.Flag_Down_limit = 1U; |
| 21577 | motor_Y.Flag_Up_limit = 1U; |
| 21578 | |
| 21579 | /* Flag_Up_GZ_limit=1; |
| 21580 | Flag_Down_GZ_limit=1; */ |
| 21581 | } |
| 21582 | break; |
| 21583 | } |
| 21584 | } |
| 21585 | } else { |
| 21586 | /* During 'Start': '<S1>:226' */ |
| 21587 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(1.0 / motor_DWork.Ts)) { |
| 21588 | /* Transition: '<S1>:438' */ |
| 21589 | motor_DWork.is_Showing_Mode = motor_IN_RUN; |
| 21590 | |
| 21591 | /* Entry Internal 'RUN': '<S1>:186' */ |
| 21592 | /* Transition: '<S1>:588' */ |
| 21593 | motor_DWork.is_active_Algorithm_b = 1U; |
| 21594 | |
| 21595 | /* Entry Internal 'Algorithm': '<S1>:205' */ |
| 21596 | /* Transition: '<S1>:614' */ |
| 21597 | motor_DWork.is_Algorithm_e = motor_IN_Defualt; |
| 21598 | |
| 21599 | /* Entry 'Defualt': '<S1>:206' */ |
| 21600 | motor_DWork.chu_jd = 0.0; |
| 21601 | motor_DWork.KG = 0U; |
| 21602 | motor_Y.Motor_En = false; |
| 21603 | motor_Y.DCZD = false; |
| 21604 | |
| 21605 | /* 开电磁制动,低有效 */ |
| 21606 | motor_DWork.is_active_Limit_Check_o = 1U; |
| 21607 | |
| 21608 | /* Entry Internal 'Limit_Check': '<S1>:200' */ |
| 21609 | /* Transition: '<S1>:606' */ |
| 21610 | motor_DWork.is_Limit_Check_j = motor_IN_defult_bq; |
| 21611 | motor_DWork.temporalCounter_i1 = 0U; |
| 21612 | } |
| 21613 | } |
| 21614 | } |
| 21615 | |
| 21616 | /* Function for Chart: '<Root>/Chart' */ |
| 21617 | static void motor_Algorithm(void) |
| 21618 | { |
| 21619 | uint16_T tmp; |
| 21620 | real_T tmp_0; |
| 21621 | int32_T saturatedUnaryMinus; |
| 21622 | |
| 21623 | /* During 'Algorithm': '<S1>:131' */ |
| 21624 | switch (motor_DWork.is_Algorithm) { |
| 21625 | case motor_IN_HYDG_Close: |
| 21626 | /* During 'HYDG_Close': '<S1>:132' */ |
| 21627 | switch (motor_DWork.is_HYDG_Close) { |
| 21628 | case motor_IN_Defualt: |
| 21629 | /* During 'Defualt': '<S1>:134' */ |
| 21630 | saturatedUnaryMinus = motor_Y.Encode_Pos; |
| 21631 | if (saturatedUnaryMinus < 0) { |
| 21632 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 21633 | saturatedUnaryMinus = MAX_int32_T; |
| 21634 | } else { |
| 21635 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 21636 | } |
| 21637 | } |
| 21638 | |
| 21639 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Pos_Zero) { |
| 21640 | /* Transition: '<S1>:512' */ |
| 21641 | motor_DWork.is_HYDG_Close = motor_IN_XHZY_Close1; |
| 21642 | motor_DWork.temporalCounter_i1 = 0U; |
| 21643 | |
| 21644 | /* Entry 'XHZY_Close1': '<S1>:310' */ |
| 21645 | motor_Y.Motor_En = true; |
| 21646 | |
| 21647 | /* 电机失能 */ |
| 21648 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 21649 | } else if (motor_DWork.temporalCounter_i1 >= (uint32_T)(2.0 / |
| 21650 | motor_DWork.Ts)) { |
| 21651 | /* Transition: '<S1>:513' */ |
| 21652 | /* 等待2s,查看关机是否成功 */ |
| 21653 | motor_DWork.is_HYDG_Close = motor_IN_XHZY_Error; |
| 21654 | |
| 21655 | /* Entry 'XHZY_Error': '<S1>:133' */ |
| 21656 | motor_Y.Motor_En = true; |
| 21657 | |
| 21658 | /* 电机失能 */ |
| 21659 | } else { |
| 21660 | /* Inport: '<Root>/JD_In' */ |
| 21661 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 21662 | motor_B.JD_In_f = motor_U.JD_In; |
| 21663 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 21664 | |
| 21665 | /* Inport: '<Root>/System_Order' */ |
| 21666 | motor_B.Slect_port_c = motor_U.System_Order; |
| 21667 | |
| 21668 | /* Inport: '<Root>/Encode_Sp' */ |
| 21669 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 21670 | |
| 21671 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 21672 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 21673 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 21674 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 21675 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 21676 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 21677 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 21678 | &motor_DWork.chu_jd); |
| 21679 | |
| 21680 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 21681 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 21682 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 21683 | if (tmp_0 < 2.147483648E+9) { |
| 21684 | if (tmp_0 >= -2.147483648E+9) { |
| 21685 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21686 | } else { |
| 21687 | saturatedUnaryMinus = MIN_int32_T; |
| 21688 | } |
| 21689 | } else { |
| 21690 | saturatedUnaryMinus = MAX_int32_T; |
| 21691 | } |
| 21692 | |
| 21693 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21694 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 21695 | if (tmp_0 < 2.147483648E+9) { |
| 21696 | if (tmp_0 >= -2.147483648E+9) { |
| 21697 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21698 | } else { |
| 21699 | saturatedUnaryMinus = MIN_int32_T; |
| 21700 | } |
| 21701 | } else { |
| 21702 | saturatedUnaryMinus = MAX_int32_T; |
| 21703 | } |
| 21704 | |
| 21705 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21706 | } |
| 21707 | break; |
| 21708 | |
| 21709 | case motor_IN_Int_k: |
| 21710 | /* During 'Int': '<S1>:312' */ |
| 21711 | if (motor_DWork.chu_jd < 0.0) { |
| 21712 | /* Transition: '<S1>:507' */ |
| 21713 | motor_DWork.is_HYDG_Close = motor_IN_Int1_d; |
| 21714 | |
| 21715 | /* Entry 'Int1': '<S1>:313' */ |
| 21716 | motor_DWork.chu_jd += 0.01; |
| 21717 | |
| 21718 | /* Inport: '<Root>/JD_In' */ |
| 21719 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 21720 | motor_B.JD_In_f = motor_U.JD_In; |
| 21721 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 21722 | |
| 21723 | /* Inport: '<Root>/System_Order' */ |
| 21724 | motor_B.Slect_port_c = motor_U.System_Order; |
| 21725 | |
| 21726 | /* Inport: '<Root>/Encode_Sp' */ |
| 21727 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 21728 | |
| 21729 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 21730 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 21731 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 21732 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 21733 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 21734 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 21735 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 21736 | &motor_DWork.chu_jd); |
| 21737 | |
| 21738 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 21739 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 21740 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 21741 | if (tmp_0 < 2.147483648E+9) { |
| 21742 | if (tmp_0 >= -2.147483648E+9) { |
| 21743 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21744 | } else { |
| 21745 | saturatedUnaryMinus = MIN_int32_T; |
| 21746 | } |
| 21747 | } else { |
| 21748 | saturatedUnaryMinus = MAX_int32_T; |
| 21749 | } |
| 21750 | |
| 21751 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21752 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 21753 | if (tmp_0 < 2.147483648E+9) { |
| 21754 | if (tmp_0 >= -2.147483648E+9) { |
| 21755 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21756 | } else { |
| 21757 | saturatedUnaryMinus = MIN_int32_T; |
| 21758 | } |
| 21759 | } else { |
| 21760 | saturatedUnaryMinus = MAX_int32_T; |
| 21761 | } |
| 21762 | |
| 21763 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21764 | } else if (motor_DWork.chu_jd > 0.0) { |
| 21765 | /* Transition: '<S1>:508' */ |
| 21766 | motor_DWork.is_HYDG_Close = motor_IN_Int2; |
| 21767 | |
| 21768 | /* Entry 'Int2': '<S1>:314' */ |
| 21769 | motor_DWork.chu_jd -= 0.01; |
| 21770 | |
| 21771 | /* Inport: '<Root>/JD_In' */ |
| 21772 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 21773 | motor_B.JD_In_f = motor_U.JD_In; |
| 21774 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 21775 | |
| 21776 | /* Inport: '<Root>/System_Order' */ |
| 21777 | motor_B.Slect_port_c = motor_U.System_Order; |
| 21778 | |
| 21779 | /* Inport: '<Root>/Encode_Sp' */ |
| 21780 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 21781 | |
| 21782 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 21783 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 21784 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 21785 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 21786 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 21787 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 21788 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 21789 | &motor_DWork.chu_jd); |
| 21790 | |
| 21791 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 21792 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 21793 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 21794 | if (tmp_0 < 2.147483648E+9) { |
| 21795 | if (tmp_0 >= -2.147483648E+9) { |
| 21796 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21797 | } else { |
| 21798 | saturatedUnaryMinus = MIN_int32_T; |
| 21799 | } |
| 21800 | } else { |
| 21801 | saturatedUnaryMinus = MAX_int32_T; |
| 21802 | } |
| 21803 | |
| 21804 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21805 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 21806 | if (tmp_0 < 2.147483648E+9) { |
| 21807 | if (tmp_0 >= -2.147483648E+9) { |
| 21808 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21809 | } else { |
| 21810 | saturatedUnaryMinus = MIN_int32_T; |
| 21811 | } |
| 21812 | } else { |
| 21813 | saturatedUnaryMinus = MAX_int32_T; |
| 21814 | } |
| 21815 | |
| 21816 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21817 | } else { |
| 21818 | if (motor_DWork.chu_jd == 0.0) { |
| 21819 | /* Transition: '<S1>:509' */ |
| 21820 | motor_DWork.is_HYDG_Close = motor_IN_Defualt; |
| 21821 | motor_DWork.temporalCounter_i1 = 0U; |
| 21822 | |
| 21823 | /* Entry 'Defualt': '<S1>:134' */ |
| 21824 | motor_DWork.chu_jd = 0.0; |
| 21825 | } |
| 21826 | } |
| 21827 | break; |
| 21828 | |
| 21829 | case motor_IN_Int1_d: |
| 21830 | /* During 'Int1': '<S1>:313' */ |
| 21831 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 21832 | /* Transition: '<S1>:510' */ |
| 21833 | motor_DWork.is_HYDG_Close = motor_IN_Defualt; |
| 21834 | motor_DWork.temporalCounter_i1 = 0U; |
| 21835 | |
| 21836 | /* Entry 'Defualt': '<S1>:134' */ |
| 21837 | motor_DWork.chu_jd = 0.0; |
| 21838 | } else { |
| 21839 | motor_DWork.chu_jd += 0.01; |
| 21840 | |
| 21841 | /* Inport: '<Root>/JD_In' */ |
| 21842 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 21843 | motor_B.JD_In_f = motor_U.JD_In; |
| 21844 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 21845 | |
| 21846 | /* Inport: '<Root>/System_Order' */ |
| 21847 | motor_B.Slect_port_c = motor_U.System_Order; |
| 21848 | |
| 21849 | /* Inport: '<Root>/Encode_Sp' */ |
| 21850 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 21851 | |
| 21852 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 21853 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 21854 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 21855 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 21856 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 21857 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 21858 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 21859 | &motor_DWork.chu_jd); |
| 21860 | |
| 21861 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 21862 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 21863 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 21864 | if (tmp_0 < 2.147483648E+9) { |
| 21865 | if (tmp_0 >= -2.147483648E+9) { |
| 21866 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21867 | } else { |
| 21868 | saturatedUnaryMinus = MIN_int32_T; |
| 21869 | } |
| 21870 | } else { |
| 21871 | saturatedUnaryMinus = MAX_int32_T; |
| 21872 | } |
| 21873 | |
| 21874 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21875 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 21876 | if (tmp_0 < 2.147483648E+9) { |
| 21877 | if (tmp_0 >= -2.147483648E+9) { |
| 21878 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21879 | } else { |
| 21880 | saturatedUnaryMinus = MIN_int32_T; |
| 21881 | } |
| 21882 | } else { |
| 21883 | saturatedUnaryMinus = MAX_int32_T; |
| 21884 | } |
| 21885 | |
| 21886 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21887 | } |
| 21888 | break; |
| 21889 | |
| 21890 | case motor_IN_Int2: |
| 21891 | /* During 'Int2': '<S1>:314' */ |
| 21892 | if (fabs(motor_DWork.chu_jd) < 0.1) { |
| 21893 | /* Transition: '<S1>:511' */ |
| 21894 | motor_DWork.is_HYDG_Close = motor_IN_Defualt; |
| 21895 | motor_DWork.temporalCounter_i1 = 0U; |
| 21896 | |
| 21897 | /* Entry 'Defualt': '<S1>:134' */ |
| 21898 | motor_DWork.chu_jd = 0.0; |
| 21899 | } else { |
| 21900 | motor_DWork.chu_jd -= 0.01; |
| 21901 | |
| 21902 | /* Inport: '<Root>/JD_In' */ |
| 21903 | /* Simulink Function 'Motor_HYDG': '<S1>:77' */ |
| 21904 | motor_B.JD_In_f = motor_U.JD_In; |
| 21905 | motor_B.Encode_Pos_i = motor_Y.Encode_Pos; |
| 21906 | |
| 21907 | /* Inport: '<Root>/System_Order' */ |
| 21908 | motor_B.Slect_port_c = motor_U.System_Order; |
| 21909 | |
| 21910 | /* Inport: '<Root>/Encode_Sp' */ |
| 21911 | motor_B.Encode_Sp_n = motor_U.Encode_Sp; |
| 21912 | |
| 21913 | /* Outputs for Function Call SubSystem: '<S1>/Motor_HYDG' */ |
| 21914 | motor_Motor_HYDG(motor_M, motor_B.JD_In_f, motor_B.Encode_Pos_i, |
| 21915 | motor_B.Slect_port_c, motor_B.Encode_Sp_n, |
| 21916 | &motor_B.Motor_HYDG, &motor_DWork.Motor_HYDG, |
| 21917 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG, |
| 21918 | &motor_DWork.JD_HYDG, &motor_DWork.JD_HYDG_HC, |
| 21919 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, |
| 21920 | &motor_DWork.chu_jd); |
| 21921 | |
| 21922 | /* End of Outputs for SubSystem: '<S1>/Motor_HYDG' */ |
| 21923 | motor_Y.PWMOUT = motor_B.Motor_HYDG.DataTypeConversion3; |
| 21924 | tmp_0 = motor_B.Motor_HYDG.KP_e; |
| 21925 | if (tmp_0 < 2.147483648E+9) { |
| 21926 | if (tmp_0 >= -2.147483648E+9) { |
| 21927 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21928 | } else { |
| 21929 | saturatedUnaryMinus = MIN_int32_T; |
| 21930 | } |
| 21931 | } else { |
| 21932 | saturatedUnaryMinus = MAX_int32_T; |
| 21933 | } |
| 21934 | |
| 21935 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 21936 | tmp_0 = motor_B.Motor_HYDG.KP_JD; |
| 21937 | if (tmp_0 < 2.147483648E+9) { |
| 21938 | if (tmp_0 >= -2.147483648E+9) { |
| 21939 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 21940 | } else { |
| 21941 | saturatedUnaryMinus = MIN_int32_T; |
| 21942 | } |
| 21943 | } else { |
| 21944 | saturatedUnaryMinus = MAX_int32_T; |
| 21945 | } |
| 21946 | |
| 21947 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 21948 | } |
| 21949 | break; |
| 21950 | |
| 21951 | case motor_IN_XHZY_Close_c: |
| 21952 | /* During 'XHZY_Close': '<S1>:135' */ |
| 21953 | break; |
| 21954 | |
| 21955 | case motor_IN_XHZY_Close1: |
| 21956 | /* During 'XHZY_Close1': '<S1>:310' */ |
| 21957 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 21958 | /* Transition: '<S1>:515' */ |
| 21959 | motor_DWork.is_HYDG_Close = motor_IN_XHZY_Close_c; |
| 21960 | |
| 21961 | /* Entry 'XHZY_Close': '<S1>:135' */ |
| 21962 | motor_Y.Open_Result = 2U; |
| 21963 | |
| 21964 | /* 关机成功 */ |
| 21965 | motor_DWork.In_State = 3U; |
| 21966 | motor_Y.DCZD = true; |
| 21967 | |
| 21968 | /* 电池只懂引脚拉高,关电磁制动,低有效 */ |
| 21969 | } |
| 21970 | break; |
| 21971 | |
| 21972 | default: |
| 21973 | /* During 'XHZY_Error': '<S1>:133' */ |
| 21974 | /* Transition: '<S1>:514' */ |
| 21975 | motor_DWork.is_HYDG_Close = motor_IN_XHZY_Close1; |
| 21976 | motor_DWork.temporalCounter_i1 = 0U; |
| 21977 | |
| 21978 | /* Entry 'XHZY_Close1': '<S1>:310' */ |
| 21979 | motor_Y.Motor_En = true; |
| 21980 | |
| 21981 | /* 电机失能 */ |
| 21982 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 21983 | break; |
| 21984 | } |
| 21985 | break; |
| 21986 | |
| 21987 | case motor_IN_XHHY_Close: |
| 21988 | /* Inport: '<Root>/JD_In' */ |
| 21989 | /* During 'XHHY_Close': '<S1>:136' */ |
| 21990 | /* Simulink Function 'Motor_XHHY': '<S1>:42' */ |
| 21991 | motor_B.JD_In = motor_U.JD_In; |
| 21992 | motor_B.Encode_Pos_c = motor_Y.Encode_Pos; |
| 21993 | |
| 21994 | /* Inport: '<Root>/Encode_Sp' */ |
| 21995 | motor_B.Encode_Sp = motor_U.Encode_Sp; |
| 21996 | |
| 21997 | /* Inport: '<Root>/System_Order' */ |
| 21998 | motor_B.Slect_port = motor_U.System_Order; |
| 21999 | |
| 22000 | /* Inport: '<Root>/SGWY_In' */ |
| 22001 | motor_B.SGWY_In = motor_U.SGWY_In; |
| 22002 | |
| 22003 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHHY' */ |
| 22004 | motor_Motor_XHHY(motor_M, motor_B.JD_In, motor_B.Encode_Pos_c, |
| 22005 | motor_B.Encode_Sp, motor_B.Slect_port, motor_B.SGWY_In, |
| 22006 | &motor_B.Motor_XHHY, &motor_DWork.Motor_XHHY, |
| 22007 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY, |
| 22008 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 22009 | &motor_DWork.EN_extern, &motor_DWork.JD_XHHY, |
| 22010 | &motor_DWork.JD_XHHY_HC, &motor_DWork.KG_En, |
| 22011 | &motor_DWork.KG_JD, &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22012 | &motor_DWork.V_KI, &motor_DWork.V_KP, &motor_DWork.chu_jd); |
| 22013 | |
| 22014 | /* End of Outputs for SubSystem: '<S1>/Motor_XHHY' */ |
| 22015 | tmp_0 = motor_B.Motor_XHHY.ZXF_PWM; |
| 22016 | if (tmp_0 < 65536.0) { |
| 22017 | if (tmp_0 >= 0.0) { |
| 22018 | tmp = (uint16_T)tmp_0; |
| 22019 | } else { |
| 22020 | tmp = 0U; |
| 22021 | } |
| 22022 | } else { |
| 22023 | tmp = MAX_uint16_T; |
| 22024 | } |
| 22025 | |
| 22026 | motor_Y.PWMOUT = tmp; |
| 22027 | tmp_0 = motor_B.Motor_XHHY.KP_JD1; |
| 22028 | if (tmp_0 < 2.147483648E+9) { |
| 22029 | if (tmp_0 >= -2.147483648E+9) { |
| 22030 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 22031 | } else { |
| 22032 | saturatedUnaryMinus = MIN_int32_T; |
| 22033 | } |
| 22034 | } else { |
| 22035 | saturatedUnaryMinus = MAX_int32_T; |
| 22036 | } |
| 22037 | |
| 22038 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 22039 | tmp_0 = motor_B.Motor_XHHY.KP_e; |
| 22040 | if (tmp_0 < 2.147483648E+9) { |
| 22041 | if (tmp_0 >= -2.147483648E+9) { |
| 22042 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 22043 | } else { |
| 22044 | saturatedUnaryMinus = MIN_int32_T; |
| 22045 | } |
| 22046 | } else { |
| 22047 | saturatedUnaryMinus = MAX_int32_T; |
| 22048 | } |
| 22049 | |
| 22050 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 22051 | switch (motor_DWork.is_XHHY_Close) { |
| 22052 | case motor_IN_Defualt: |
| 22053 | /* During 'Defualt': '<S1>:138' */ |
| 22054 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(10.0 / motor_DWork.Ts)) { |
| 22055 | /* Transition: '<S1>:517' */ |
| 22056 | /* 等待10s,查看关机是否成功 */ |
| 22057 | motor_DWork.is_XHHY_Close = motor_IN_XHZY_Error_f; |
| 22058 | |
| 22059 | /* Entry 'XHZY_Error': '<S1>:137' */ |
| 22060 | motor_Y.Motor_En = true; |
| 22061 | |
| 22062 | /* 电机失能 */ |
| 22063 | motor_Y.Open_Result = 1U; |
| 22064 | } else { |
| 22065 | saturatedUnaryMinus = motor_Y.Encode_Pos; |
| 22066 | if (saturatedUnaryMinus < 0) { |
| 22067 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 22068 | saturatedUnaryMinus = MAX_int32_T; |
| 22069 | } else { |
| 22070 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 22071 | } |
| 22072 | } |
| 22073 | |
| 22074 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Pos_Zero) { |
| 22075 | /* Transition: '<S1>:518' */ |
| 22076 | motor_DWork.is_XHHY_Close = motor_IN_XHZY_Close1_f; |
| 22077 | motor_DWork.temporalCounter_i1 = 0U; |
| 22078 | |
| 22079 | /* Entry 'XHZY_Close1': '<S1>:311' */ |
| 22080 | motor_Y.Motor_En = true; |
| 22081 | |
| 22082 | /* 电机失能 */ |
| 22083 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22084 | } |
| 22085 | } |
| 22086 | break; |
| 22087 | |
| 22088 | case motor_IN_XHZY_Close_cm: |
| 22089 | /* During 'XHZY_Close': '<S1>:139' */ |
| 22090 | break; |
| 22091 | |
| 22092 | case motor_IN_XHZY_Close1_f: |
| 22093 | /* During 'XHZY_Close1': '<S1>:311' */ |
| 22094 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 22095 | /* Transition: '<S1>:520' */ |
| 22096 | motor_DWork.is_XHHY_Close = motor_IN_XHZY_Close_cm; |
| 22097 | |
| 22098 | /* Entry 'XHZY_Close': '<S1>:139' */ |
| 22099 | motor_Y.Open_Result = 2U; |
| 22100 | |
| 22101 | /* 关机成功 */ |
| 22102 | motor_DWork.In_State = 3U; |
| 22103 | motor_Y.DCZD = true; |
| 22104 | |
| 22105 | /* 电池只懂引脚拉高,关电磁制动,低有效 */ |
| 22106 | } |
| 22107 | break; |
| 22108 | |
| 22109 | default: |
| 22110 | /* During 'XHZY_Error': '<S1>:137' */ |
| 22111 | /* Transition: '<S1>:519' */ |
| 22112 | motor_DWork.is_XHHY_Close = motor_IN_XHZY_Close1_f; |
| 22113 | motor_DWork.temporalCounter_i1 = 0U; |
| 22114 | |
| 22115 | /* Entry 'XHZY_Close1': '<S1>:311' */ |
| 22116 | motor_Y.Motor_En = true; |
| 22117 | |
| 22118 | /* 电机失能 */ |
| 22119 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22120 | break; |
| 22121 | } |
| 22122 | break; |
| 22123 | |
| 22124 | default: |
| 22125 | /* Inport: '<Root>/JD_In' */ |
| 22126 | /* During 'XHZY_Close': '<S1>:140' */ |
| 22127 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22128 | motor_B.JD_In_d = motor_U.JD_In; |
| 22129 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22130 | |
| 22131 | /* Inport: '<Root>/YJ_In' */ |
| 22132 | motor_B.YJ_In = motor_U.YJ_In; |
| 22133 | |
| 22134 | /* Inport: '<Root>/Encode_Sp' */ |
| 22135 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22136 | |
| 22137 | /* Inport: '<Root>/System_Order' */ |
| 22138 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22139 | |
| 22140 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22141 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22142 | motor_B.YJ_In, motor_B.Encode_Sp_l, motor_B.Slect_port_h, |
| 22143 | &motor_B.Motor_XHZY, &motor_DWork.Motor_XHZY, |
| 22144 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY, |
| 22145 | &motor_DWork.Angle_extern, &motor_DWork.Angle_internal, |
| 22146 | &motor_DWork.EN_extern, &motor_DWork.Forword, |
| 22147 | &motor_DWork.JD_XHZY, &motor_DWork.JD_XHZY_HC, |
| 22148 | &motor_DWork.KG_En, &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22149 | &motor_DWork.KG_clc, &motor_DWork.P_KP, &motor_DWork.V_KI, |
| 22150 | &motor_DWork.V_KP, &motor_DWork.YJ_XHZY, |
| 22151 | &motor_DWork.YJ_XHZY_HC, &motor_DWork.chu_jd); |
| 22152 | |
| 22153 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22154 | tmp_0 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22155 | if (tmp_0 < 65536.0) { |
| 22156 | if (tmp_0 >= 0.0) { |
| 22157 | tmp = (uint16_T)tmp_0; |
| 22158 | } else { |
| 22159 | tmp = 0U; |
| 22160 | } |
| 22161 | } else { |
| 22162 | tmp = MAX_uint16_T; |
| 22163 | } |
| 22164 | |
| 22165 | motor_Y.PWMOUT = tmp; |
| 22166 | tmp_0 = motor_B.Motor_XHZY.KP_JD; |
| 22167 | if (tmp_0 < 2.147483648E+9) { |
| 22168 | if (tmp_0 >= -2.147483648E+9) { |
| 22169 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 22170 | } else { |
| 22171 | saturatedUnaryMinus = MIN_int32_T; |
| 22172 | } |
| 22173 | } else { |
| 22174 | saturatedUnaryMinus = MAX_int32_T; |
| 22175 | } |
| 22176 | |
| 22177 | motor_Y.JD_Out = saturatedUnaryMinus; |
| 22178 | tmp_0 = motor_B.Motor_XHZY.KP_e; |
| 22179 | if (tmp_0 < 2.147483648E+9) { |
| 22180 | if (tmp_0 >= -2.147483648E+9) { |
| 22181 | saturatedUnaryMinus = (int32_T)tmp_0; |
| 22182 | } else { |
| 22183 | saturatedUnaryMinus = MIN_int32_T; |
| 22184 | } |
| 22185 | } else { |
| 22186 | saturatedUnaryMinus = MAX_int32_T; |
| 22187 | } |
| 22188 | |
| 22189 | motor_Y.JD_Error = saturatedUnaryMinus; |
| 22190 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22191 | switch (motor_DWork.is_XHZY_Close) { |
| 22192 | case motor_IN_Defualt: |
| 22193 | /* During 'Defualt': '<S1>:75' */ |
| 22194 | saturatedUnaryMinus = motor_Y.Encode_Pos; |
| 22195 | if (saturatedUnaryMinus < 0) { |
| 22196 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 22197 | saturatedUnaryMinus = MAX_int32_T; |
| 22198 | } else { |
| 22199 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 22200 | } |
| 22201 | } |
| 22202 | |
| 22203 | if ((uint32_T)saturatedUnaryMinus <= motor_DWork.Encode_Pos_Zero) { |
| 22204 | /* Transition: '<S1>:524' */ |
| 22205 | motor_DWork.is_XHZY_Close = motor_IN_XHZY_Close_cm; |
| 22206 | motor_DWork.temporalCounter_i1 = 0U; |
| 22207 | |
| 22208 | /* Entry 'XHZY_Close': '<S1>:36' */ |
| 22209 | motor_Y.Motor_En = true; |
| 22210 | |
| 22211 | /* 电机失能 */ |
| 22212 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22213 | } else { |
| 22214 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(10.0 / motor_DWork.Ts)) |
| 22215 | { |
| 22216 | /* Transition: '<S1>:521' */ |
| 22217 | /* 等待10s,查看关机是否成功 */ |
| 22218 | motor_DWork.is_XHZY_Close = motor_IN_XHZY_Error_f; |
| 22219 | |
| 22220 | /* Entry 'XHZY_Error': '<S1>:74' */ |
| 22221 | motor_Y.Motor_En = true; |
| 22222 | |
| 22223 | /* 电机失能 */ |
| 22224 | motor_Y.Open_Result = 1U; |
| 22225 | } |
| 22226 | } |
| 22227 | break; |
| 22228 | |
| 22229 | case motor_IN_XHZY_Close_cm: |
| 22230 | /* During 'XHZY_Close': '<S1>:36' */ |
| 22231 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 22232 | /* Transition: '<S1>:525' */ |
| 22233 | motor_DWork.is_XHZY_Close = motor_IN_XHZY_Close1_f; |
| 22234 | |
| 22235 | /* Entry 'XHZY_Close1': '<S1>:309' */ |
| 22236 | motor_Y.Open_Result = 2U; |
| 22237 | |
| 22238 | /* 关机成功 */ |
| 22239 | motor_DWork.In_State = 3U; |
| 22240 | motor_Y.DCZD = true; |
| 22241 | |
| 22242 | /* 电池只懂引脚拉高,关电磁制动,低有效 */ |
| 22243 | } |
| 22244 | break; |
| 22245 | |
| 22246 | case motor_IN_XHZY_Close1_f: |
| 22247 | /* During 'XHZY_Close1': '<S1>:309' */ |
| 22248 | break; |
| 22249 | |
| 22250 | default: |
| 22251 | /* During 'XHZY_Error': '<S1>:74' */ |
| 22252 | /* Transition: '<S1>:522' */ |
| 22253 | motor_DWork.is_XHZY_Close = motor_IN_XHZY_Close_cm; |
| 22254 | motor_DWork.temporalCounter_i1 = 0U; |
| 22255 | |
| 22256 | /* Entry 'XHZY_Close': '<S1>:36' */ |
| 22257 | motor_Y.Motor_En = true; |
| 22258 | |
| 22259 | /* 电机失能 */ |
| 22260 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22261 | break; |
| 22262 | } |
| 22263 | break; |
| 22264 | } |
| 22265 | } |
| 22266 | |
| 22267 | /* Function for Chart: '<Root>/Chart' */ |
| 22268 | static void motor_M_Run(void) |
| 22269 | { |
| 22270 | boolean_T guard1 = false; |
| 22271 | uint16_T tmp; |
| 22272 | int32_T tmp_0; |
| 22273 | real_T tmp_1; |
| 22274 | |
| 22275 | /* Inport: '<Root>/Encode_Sp' */ |
| 22276 | /* During 'M_Run': '<S1>:11' */ |
| 22277 | motor_DWork.Encode_Pos0 += (real_T)motor_U.Encode_Sp; |
| 22278 | |
| 22279 | /* Inport: '<Root>/Encode_Pos_Zero_Average' */ |
| 22280 | tmp_1 = motor_DWork.Encode_Pos0 - (real_T)motor_U.Encode_Pos_Zero_Average * |
| 22281 | motor_DWork.Average_En; |
| 22282 | if (tmp_1 < 2.147483648E+9) { |
| 22283 | if (tmp_1 >= -2.147483648E+9) { |
| 22284 | tmp_0 = (int32_T)tmp_1; |
| 22285 | } else { |
| 22286 | tmp_0 = MIN_int32_T; |
| 22287 | } |
| 22288 | } else { |
| 22289 | tmp_0 = MAX_int32_T; |
| 22290 | } |
| 22291 | |
| 22292 | motor_Y.Encode_Pos = tmp_0; |
| 22293 | switch (motor_DWork.is_M_Run) { |
| 22294 | case motor_IN_Close: |
| 22295 | /* Inport: '<Root>/System_Order' */ |
| 22296 | /* During 'Close': '<S1>:130' */ |
| 22297 | if (motor_U.System_Order == 2) { |
| 22298 | /* Inport: '<Root>/Working_Mode' */ |
| 22299 | /* Transition: '<S1>:386' */ |
| 22300 | if (motor_U.Working_Mode == 3) { |
| 22301 | /* Transition: '<S1>:387' */ |
| 22302 | /* Exit Internal 'Close': '<S1>:130' */ |
| 22303 | /* Exit Internal 'Algorithm': '<S1>:131' */ |
| 22304 | /* Exit Internal 'HYDG_Close': '<S1>:132' */ |
| 22305 | motor_DWork.is_HYDG_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22306 | motor_DWork.is_Algorithm = motor_IN_NO_ACTIVE_CHILD; |
| 22307 | |
| 22308 | /* Exit Internal 'XHHY_Close': '<S1>:136' */ |
| 22309 | motor_DWork.is_XHHY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22310 | |
| 22311 | /* Exit Internal 'XHZY_Close': '<S1>:140' */ |
| 22312 | motor_DWork.is_XHZY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22313 | motor_DWork.is_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22314 | motor_DWork.is_M_Run = motor_IN_Normal_Mode; |
| 22315 | |
| 22316 | /* Entry 'Normal_Mode': '<S1>:13' */ |
| 22317 | /* 正常模式 */ |
| 22318 | motor_Y.DCZD = false; |
| 22319 | |
| 22320 | /* 开电磁制动,低有效 */ |
| 22321 | motor_Y.Open_Result = 3U; |
| 22322 | |
| 22323 | /* 开机未完成状态位 */ |
| 22324 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22325 | |
| 22326 | /* Entry Internal 'Normal_Mode': '<S1>:13' */ |
| 22327 | /* Transition: '<S1>:410' */ |
| 22328 | motor_DWork.is_Normal_Mode = motor_IN_defult1; |
| 22329 | motor_DWork.temporalCounter_i1 = 0U; |
| 22330 | } else if (motor_U.Working_Mode == 2) { |
| 22331 | /* Transition: '<S1>:385' */ |
| 22332 | /* Exit Internal 'Close': '<S1>:130' */ |
| 22333 | /* Exit Internal 'Algorithm': '<S1>:131' */ |
| 22334 | /* Exit Internal 'HYDG_Close': '<S1>:132' */ |
| 22335 | motor_DWork.is_HYDG_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22336 | motor_DWork.is_Algorithm = motor_IN_NO_ACTIVE_CHILD; |
| 22337 | |
| 22338 | /* Exit Internal 'XHHY_Close': '<S1>:136' */ |
| 22339 | motor_DWork.is_XHHY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22340 | |
| 22341 | /* Exit Internal 'XHZY_Close': '<S1>:140' */ |
| 22342 | motor_DWork.is_XHZY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22343 | motor_DWork.is_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22344 | motor_DWork.is_M_Run = motor_IN_Showing_Mode; |
| 22345 | |
| 22346 | /* Entry 'Showing_Mode': '<S1>:51' */ |
| 22347 | /* 检视模式 */ |
| 22348 | motor_Y.DCZD = false; |
| 22349 | |
| 22350 | /* 开电磁制动,低有效 */ |
| 22351 | motor_Y.Open_Result = 3U; |
| 22352 | |
| 22353 | /* 开机未完成状态位 */ |
| 22354 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22355 | motor_DWork.KG = 0U; |
| 22356 | |
| 22357 | /* Entry Internal 'Showing_Mode': '<S1>:51' */ |
| 22358 | /* Transition: '<S1>:437' */ |
| 22359 | motor_DWork.is_Showing_Mode = motor_IN_Start; |
| 22360 | motor_DWork.temporalCounter_i1 = 0U; |
| 22361 | } else if (motor_U.Working_Mode == 1) { |
| 22362 | /* Transition: '<S1>:382' */ |
| 22363 | /* Exit Internal 'Close': '<S1>:130' */ |
| 22364 | /* Exit Internal 'Algorithm': '<S1>:131' */ |
| 22365 | /* Exit Internal 'HYDG_Close': '<S1>:132' */ |
| 22366 | motor_DWork.is_HYDG_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22367 | motor_DWork.is_Algorithm = motor_IN_NO_ACTIVE_CHILD; |
| 22368 | |
| 22369 | /* Exit Internal 'XHHY_Close': '<S1>:136' */ |
| 22370 | motor_DWork.is_XHHY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22371 | |
| 22372 | /* Exit Internal 'XHZY_Close': '<S1>:140' */ |
| 22373 | motor_DWork.is_XHZY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22374 | motor_DWork.is_Close = motor_IN_NO_ACTIVE_CHILD; |
| 22375 | motor_DWork.is_M_Run = motor_IN_Test_Mode; |
| 22376 | |
| 22377 | /* Entry 'Test_Mode': '<S1>:35' */ |
| 22378 | /* 调试模式 */ |
| 22379 | /* Entry Internal 'Test_Mode': '<S1>:35' */ |
| 22380 | /* Transition: '<S1>:424' */ |
| 22381 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 22382 | |
| 22383 | /* Entry 'defult': '<S1>:239' */ |
| 22384 | motor_Y.Open_Result = 1U; |
| 22385 | |
| 22386 | /* 开机状态位成功 */ |
| 22387 | motor_DWork.In_State = 2U; |
| 22388 | } else { |
| 22389 | guard1 = true; |
| 22390 | } |
| 22391 | |
| 22392 | /* End of Inport: '<Root>/Working_Mode' */ |
| 22393 | } else { |
| 22394 | guard1 = true; |
| 22395 | } |
| 22396 | break; |
| 22397 | |
| 22398 | case motor_IN_Initialize: |
| 22399 | motor_Initialize(); |
| 22400 | break; |
| 22401 | |
| 22402 | case motor_IN_Normal_Mode: |
| 22403 | motor_Normal_Mode(); |
| 22404 | break; |
| 22405 | |
| 22406 | case motor_IN_Showing_Mode: |
| 22407 | motor_Showing_Mode(); |
| 22408 | break; |
| 22409 | |
| 22410 | default: |
| 22411 | /* Inport: '<Root>/System_Order' */ |
| 22412 | /* During 'Test_Mode': '<S1>:35' */ |
| 22413 | if (motor_U.System_Order == 3) { |
| 22414 | /* Transition: '<S1>:393' */ |
| 22415 | motor_exit_internal_Test_Mode(); |
| 22416 | motor_DWork.is_M_Run = motor_IN_Close; |
| 22417 | motor_DWork.is_Close = motor_IN_Close_Wait; |
| 22418 | motor_DWork.temporalCounter_i1 = 0U; |
| 22419 | |
| 22420 | /* Entry 'Close_Wait': '<S1>:241' */ |
| 22421 | motor_Y.Open_Result = 4U; |
| 22422 | |
| 22423 | /* 正在关机 */ |
| 22424 | motor_Y.DCZD = false; |
| 22425 | |
| 22426 | /* 解除制动 */ |
| 22427 | motor_Y.Motor_En = false; |
| 22428 | |
| 22429 | /* 电机使能 */ |
| 22430 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22431 | motor_DWork.EN_extern = 0U; |
| 22432 | } else { |
| 22433 | switch (motor_DWork.is_Test_Mode) { |
| 22434 | case motor_IN_Calibration: |
| 22435 | /* Inport: '<Root>/Test_Mode' */ |
| 22436 | /* During 'Calibration': '<S1>:237' */ |
| 22437 | if (motor_U.Test_Mode != 1) { |
| 22438 | /* Transition: '<S1>:426' */ |
| 22439 | motor_Y.DCZD = true; |
| 22440 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 22441 | |
| 22442 | /* Entry 'defult': '<S1>:239' */ |
| 22443 | motor_Y.Open_Result = 1U; |
| 22444 | |
| 22445 | /* 开机状态位成功 */ |
| 22446 | motor_DWork.In_State = 2U; |
| 22447 | } |
| 22448 | break; |
| 22449 | |
| 22450 | case motor_IN_Dspace_Test: |
| 22451 | /* During 'Dspace_Test': '<S1>:1051' */ |
| 22452 | switch (motor_DWork.is_Dspace_Test) { |
| 22453 | case motor_IN_Int: |
| 22454 | /* During 'Int': '<S1>:1058' */ |
| 22455 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 22456 | { |
| 22457 | /* Transition: '<S1>:1056' */ |
| 22458 | motor_DWork.is_Dspace_Test = motor_IN_Int1; |
| 22459 | motor_DWork.temporalCounter_i1 = 0U; |
| 22460 | } |
| 22461 | break; |
| 22462 | |
| 22463 | case motor_IN_Int1: |
| 22464 | /* During 'Int1': '<S1>:1060' */ |
| 22465 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(3.0 / motor_DWork.Ts)) |
| 22466 | { |
| 22467 | /* Transition: '<S1>:1057' */ |
| 22468 | motor_DWork.is_Dspace_Test = motor_IN_Int4; |
| 22469 | motor_DWork.temporalCounter_i1 = 0U; |
| 22470 | |
| 22471 | /* Entry 'Int4': '<S1>:1061' */ |
| 22472 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22473 | } else { |
| 22474 | /* Inport: '<Root>/JD_In' */ |
| 22475 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22476 | motor_B.JD_In_d = motor_U.JD_In; |
| 22477 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22478 | |
| 22479 | /* Inport: '<Root>/YJ_In' */ |
| 22480 | motor_B.YJ_In = motor_U.YJ_In; |
| 22481 | |
| 22482 | /* Inport: '<Root>/Encode_Sp' */ |
| 22483 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22484 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22485 | |
| 22486 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22487 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22488 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 22489 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 22490 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 22491 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 22492 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 22493 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 22494 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 22495 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22496 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22497 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 22498 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 22499 | &motor_DWork.chu_jd); |
| 22500 | |
| 22501 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22502 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22503 | if (tmp_1 < 65536.0) { |
| 22504 | if (tmp_1 >= 0.0) { |
| 22505 | tmp = (uint16_T)tmp_1; |
| 22506 | } else { |
| 22507 | tmp = 0U; |
| 22508 | } |
| 22509 | } else { |
| 22510 | tmp = MAX_uint16_T; |
| 22511 | } |
| 22512 | |
| 22513 | motor_Y.PWMOUT = tmp; |
| 22514 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 22515 | if (tmp_1 < 2.147483648E+9) { |
| 22516 | if (tmp_1 >= -2.147483648E+9) { |
| 22517 | tmp_0 = (int32_T)tmp_1; |
| 22518 | } else { |
| 22519 | tmp_0 = MIN_int32_T; |
| 22520 | } |
| 22521 | } else { |
| 22522 | tmp_0 = MAX_int32_T; |
| 22523 | } |
| 22524 | |
| 22525 | motor_Y.JD_Out = tmp_0; |
| 22526 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 22527 | if (tmp_1 < 2.147483648E+9) { |
| 22528 | if (tmp_1 >= -2.147483648E+9) { |
| 22529 | tmp_0 = (int32_T)tmp_1; |
| 22530 | } else { |
| 22531 | tmp_0 = MIN_int32_T; |
| 22532 | } |
| 22533 | } else { |
| 22534 | tmp_0 = MAX_int32_T; |
| 22535 | } |
| 22536 | |
| 22537 | motor_Y.JD_Error = tmp_0; |
| 22538 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22539 | } |
| 22540 | break; |
| 22541 | |
| 22542 | case motor_IN_Int3: |
| 22543 | /* During 'Int3': '<S1>:1059' */ |
| 22544 | /* Transition: '<S1>:1053' */ |
| 22545 | motor_DWork.is_Dspace_Test = motor_IN_NO_ACTIVE_CHILD; |
| 22546 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 22547 | |
| 22548 | /* Entry 'defult': '<S1>:239' */ |
| 22549 | motor_Y.Open_Result = 1U; |
| 22550 | |
| 22551 | /* 开机状态位成功 */ |
| 22552 | motor_DWork.In_State = 2U; |
| 22553 | break; |
| 22554 | |
| 22555 | case motor_IN_Int4: |
| 22556 | /* During 'Int4': '<S1>:1061' */ |
| 22557 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 22558 | { |
| 22559 | /* Transition: '<S1>:1066' */ |
| 22560 | motor_DWork.is_Dspace_Test = motor_IN_Int5; |
| 22561 | |
| 22562 | /* Entry 'Int5': '<S1>:1065' */ |
| 22563 | motor_Y.dSpace_Init = 1U; |
| 22564 | } |
| 22565 | break; |
| 22566 | |
| 22567 | case motor_IN_Int5: |
| 22568 | /* Inport: '<Root>/Test_Mode' */ |
| 22569 | /* During 'Int5': '<S1>:1065' */ |
| 22570 | if (motor_U.Test_Mode != 5) { |
| 22571 | /* Transition: '<S1>:1055' */ |
| 22572 | motor_DWork.is_Dspace_Test = motor_IN_Int6; |
| 22573 | motor_DWork.temporalCounter_i1 = 0U; |
| 22574 | |
| 22575 | /* Entry 'Int6': '<S1>:1067' */ |
| 22576 | motor_Y.dSpace_Init = 0U; |
| 22577 | } |
| 22578 | break; |
| 22579 | |
| 22580 | default: |
| 22581 | /* During 'Int6': '<S1>:1067' */ |
| 22582 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(3.0 / motor_DWork.Ts)) |
| 22583 | { |
| 22584 | /* Transition: '<S1>:1068' */ |
| 22585 | motor_DWork.is_Dspace_Test = motor_IN_Int3; |
| 22586 | |
| 22587 | /* Entry 'Int3': '<S1>:1059' */ |
| 22588 | motor_Y.Motor_En = true; |
| 22589 | |
| 22590 | /* 电机失能 */ |
| 22591 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22592 | } else { |
| 22593 | /* Inport: '<Root>/JD_In' */ |
| 22594 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22595 | motor_B.JD_In_d = motor_U.JD_In; |
| 22596 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22597 | |
| 22598 | /* Inport: '<Root>/YJ_In' */ |
| 22599 | motor_B.YJ_In = motor_U.YJ_In; |
| 22600 | |
| 22601 | /* Inport: '<Root>/Encode_Sp' */ |
| 22602 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22603 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22604 | |
| 22605 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22606 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22607 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 22608 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 22609 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 22610 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 22611 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 22612 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 22613 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 22614 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22615 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22616 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 22617 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 22618 | &motor_DWork.chu_jd); |
| 22619 | |
| 22620 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22621 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22622 | if (tmp_1 < 65536.0) { |
| 22623 | if (tmp_1 >= 0.0) { |
| 22624 | tmp = (uint16_T)tmp_1; |
| 22625 | } else { |
| 22626 | tmp = 0U; |
| 22627 | } |
| 22628 | } else { |
| 22629 | tmp = MAX_uint16_T; |
| 22630 | } |
| 22631 | |
| 22632 | motor_Y.PWMOUT = tmp; |
| 22633 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 22634 | if (tmp_1 < 2.147483648E+9) { |
| 22635 | if (tmp_1 >= -2.147483648E+9) { |
| 22636 | tmp_0 = (int32_T)tmp_1; |
| 22637 | } else { |
| 22638 | tmp_0 = MIN_int32_T; |
| 22639 | } |
| 22640 | } else { |
| 22641 | tmp_0 = MAX_int32_T; |
| 22642 | } |
| 22643 | |
| 22644 | motor_Y.JD_Out = tmp_0; |
| 22645 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 22646 | if (tmp_1 < 2.147483648E+9) { |
| 22647 | if (tmp_1 >= -2.147483648E+9) { |
| 22648 | tmp_0 = (int32_T)tmp_1; |
| 22649 | } else { |
| 22650 | tmp_0 = MIN_int32_T; |
| 22651 | } |
| 22652 | } else { |
| 22653 | tmp_0 = MAX_int32_T; |
| 22654 | } |
| 22655 | |
| 22656 | motor_Y.JD_Error = tmp_0; |
| 22657 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22658 | } |
| 22659 | break; |
| 22660 | } |
| 22661 | break; |
| 22662 | |
| 22663 | case motor_IN_Elevation_Test: |
| 22664 | /* During 'Elevation_Test': '<S1>:304' */ |
| 22665 | switch (motor_DWork.is_Elevation_Test) { |
| 22666 | case motor_IN_Int: |
| 22667 | /* During 'Int': '<S1>:305' */ |
| 22668 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) |
| 22669 | { |
| 22670 | /* Transition: '<S1>:736' */ |
| 22671 | motor_DWork.is_Elevation_Test = motor_IN_Int1; |
| 22672 | |
| 22673 | /* Inport: '<Root>/JD_In' */ |
| 22674 | /* Entry 'Int1': '<S1>:306' */ |
| 22675 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22676 | motor_B.JD_In_d = motor_U.JD_In; |
| 22677 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22678 | |
| 22679 | /* Inport: '<Root>/YJ_In' */ |
| 22680 | motor_B.YJ_In = motor_U.YJ_In; |
| 22681 | |
| 22682 | /* Inport: '<Root>/Encode_Sp' */ |
| 22683 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22684 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22685 | |
| 22686 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22687 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22688 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 22689 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 22690 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 22691 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 22692 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 22693 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 22694 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 22695 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22696 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22697 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 22698 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 22699 | &motor_DWork.chu_jd); |
| 22700 | |
| 22701 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22702 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22703 | if (tmp_1 < 65536.0) { |
| 22704 | if (tmp_1 >= 0.0) { |
| 22705 | tmp = (uint16_T)tmp_1; |
| 22706 | } else { |
| 22707 | tmp = 0U; |
| 22708 | } |
| 22709 | } else { |
| 22710 | tmp = MAX_uint16_T; |
| 22711 | } |
| 22712 | |
| 22713 | motor_Y.PWMOUT = tmp; |
| 22714 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 22715 | if (tmp_1 < 2.147483648E+9) { |
| 22716 | if (tmp_1 >= -2.147483648E+9) { |
| 22717 | tmp_0 = (int32_T)tmp_1; |
| 22718 | } else { |
| 22719 | tmp_0 = MIN_int32_T; |
| 22720 | } |
| 22721 | } else { |
| 22722 | tmp_0 = MAX_int32_T; |
| 22723 | } |
| 22724 | |
| 22725 | motor_Y.JD_Out = tmp_0; |
| 22726 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 22727 | if (tmp_1 < 2.147483648E+9) { |
| 22728 | if (tmp_1 >= -2.147483648E+9) { |
| 22729 | tmp_0 = (int32_T)tmp_1; |
| 22730 | } else { |
| 22731 | tmp_0 = MIN_int32_T; |
| 22732 | } |
| 22733 | } else { |
| 22734 | tmp_0 = MAX_int32_T; |
| 22735 | } |
| 22736 | |
| 22737 | motor_Y.JD_Error = tmp_0; |
| 22738 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22739 | } |
| 22740 | break; |
| 22741 | |
| 22742 | case motor_IN_Int1: |
| 22743 | /* Inport: '<Root>/Test_Mode' */ |
| 22744 | /* During 'Int1': '<S1>:306' */ |
| 22745 | if (motor_U.Test_Mode != 4) { |
| 22746 | /* Transition: '<S1>:737' */ |
| 22747 | motor_DWork.is_Elevation_Test = motor_IN_Int4; |
| 22748 | |
| 22749 | /* Entry 'Int4': '<S1>:308' */ |
| 22750 | motor_DWork.KG_YJ = 0U; |
| 22751 | |
| 22752 | /* Inport: '<Root>/JD_In' */ |
| 22753 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22754 | motor_B.JD_In_d = motor_U.JD_In; |
| 22755 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22756 | |
| 22757 | /* Inport: '<Root>/YJ_In' */ |
| 22758 | motor_B.YJ_In = motor_U.YJ_In; |
| 22759 | |
| 22760 | /* Inport: '<Root>/Encode_Sp' */ |
| 22761 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22762 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22763 | |
| 22764 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22765 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22766 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 22767 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 22768 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 22769 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 22770 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 22771 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 22772 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 22773 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22774 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22775 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 22776 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 22777 | &motor_DWork.chu_jd); |
| 22778 | |
| 22779 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22780 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22781 | if (tmp_1 < 65536.0) { |
| 22782 | if (tmp_1 >= 0.0) { |
| 22783 | tmp = (uint16_T)tmp_1; |
| 22784 | } else { |
| 22785 | tmp = 0U; |
| 22786 | } |
| 22787 | } else { |
| 22788 | tmp = MAX_uint16_T; |
| 22789 | } |
| 22790 | |
| 22791 | motor_Y.PWMOUT = tmp; |
| 22792 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 22793 | if (tmp_1 < 2.147483648E+9) { |
| 22794 | if (tmp_1 >= -2.147483648E+9) { |
| 22795 | tmp_0 = (int32_T)tmp_1; |
| 22796 | } else { |
| 22797 | tmp_0 = MIN_int32_T; |
| 22798 | } |
| 22799 | } else { |
| 22800 | tmp_0 = MAX_int32_T; |
| 22801 | } |
| 22802 | |
| 22803 | motor_Y.JD_Out = tmp_0; |
| 22804 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 22805 | if (tmp_1 < 2.147483648E+9) { |
| 22806 | if (tmp_1 >= -2.147483648E+9) { |
| 22807 | tmp_0 = (int32_T)tmp_1; |
| 22808 | } else { |
| 22809 | tmp_0 = MIN_int32_T; |
| 22810 | } |
| 22811 | } else { |
| 22812 | tmp_0 = MAX_int32_T; |
| 22813 | } |
| 22814 | |
| 22815 | motor_Y.JD_Error = tmp_0; |
| 22816 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22817 | } else { |
| 22818 | /* Inport: '<Root>/JD_In' */ |
| 22819 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22820 | motor_B.JD_In_d = motor_U.JD_In; |
| 22821 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22822 | |
| 22823 | /* Inport: '<Root>/YJ_In' */ |
| 22824 | motor_B.YJ_In = motor_U.YJ_In; |
| 22825 | |
| 22826 | /* Inport: '<Root>/Encode_Sp' */ |
| 22827 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22828 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22829 | |
| 22830 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22831 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22832 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 22833 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 22834 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 22835 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 22836 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 22837 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 22838 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 22839 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22840 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22841 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 22842 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 22843 | &motor_DWork.chu_jd); |
| 22844 | |
| 22845 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22846 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22847 | if (tmp_1 < 65536.0) { |
| 22848 | if (tmp_1 >= 0.0) { |
| 22849 | tmp = (uint16_T)tmp_1; |
| 22850 | } else { |
| 22851 | tmp = 0U; |
| 22852 | } |
| 22853 | } else { |
| 22854 | tmp = MAX_uint16_T; |
| 22855 | } |
| 22856 | |
| 22857 | motor_Y.PWMOUT = tmp; |
| 22858 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 22859 | if (tmp_1 < 2.147483648E+9) { |
| 22860 | if (tmp_1 >= -2.147483648E+9) { |
| 22861 | tmp_0 = (int32_T)tmp_1; |
| 22862 | } else { |
| 22863 | tmp_0 = MIN_int32_T; |
| 22864 | } |
| 22865 | } else { |
| 22866 | tmp_0 = MAX_int32_T; |
| 22867 | } |
| 22868 | |
| 22869 | motor_Y.JD_Out = tmp_0; |
| 22870 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 22871 | if (tmp_1 < 2.147483648E+9) { |
| 22872 | if (tmp_1 >= -2.147483648E+9) { |
| 22873 | tmp_0 = (int32_T)tmp_1; |
| 22874 | } else { |
| 22875 | tmp_0 = MIN_int32_T; |
| 22876 | } |
| 22877 | } else { |
| 22878 | tmp_0 = MAX_int32_T; |
| 22879 | } |
| 22880 | |
| 22881 | motor_Y.JD_Error = tmp_0; |
| 22882 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22883 | } |
| 22884 | break; |
| 22885 | |
| 22886 | case motor_IN_Int3: |
| 22887 | /* During 'Int3': '<S1>:307' */ |
| 22888 | /* Transition: '<S1>:733' */ |
| 22889 | motor_DWork.is_Elevation_Test = motor_IN_NO_ACTIVE_CHILD; |
| 22890 | motor_DWork.is_Test_Mode = motor_IN_defult; |
| 22891 | |
| 22892 | /* Entry 'defult': '<S1>:239' */ |
| 22893 | motor_Y.Open_Result = 1U; |
| 22894 | |
| 22895 | /* 开机状态位成功 */ |
| 22896 | motor_DWork.In_State = 2U; |
| 22897 | break; |
| 22898 | |
| 22899 | default: |
| 22900 | /* During 'Int4': '<S1>:308' */ |
| 22901 | if (motor_Y.JD_Error < 0.1) { |
| 22902 | /* Transition: '<S1>:735' */ |
| 22903 | motor_DWork.is_Elevation_Test = motor_IN_Int3; |
| 22904 | |
| 22905 | /* Entry 'Int3': '<S1>:307' */ |
| 22906 | motor_Y.Motor_En = true; |
| 22907 | |
| 22908 | /* 电机失能 */ |
| 22909 | motor_Y.PWMOUT = motor_DWork.PWM_Value_Mid; |
| 22910 | } else { |
| 22911 | /* Inport: '<Root>/JD_In' */ |
| 22912 | /* Simulink Function 'Motor_XHZY': '<S1>:90' */ |
| 22913 | motor_B.JD_In_d = motor_U.JD_In; |
| 22914 | motor_B.Encode_Pos_f = motor_Y.Encode_Pos; |
| 22915 | |
| 22916 | /* Inport: '<Root>/YJ_In' */ |
| 22917 | motor_B.YJ_In = motor_U.YJ_In; |
| 22918 | |
| 22919 | /* Inport: '<Root>/Encode_Sp' */ |
| 22920 | motor_B.Encode_Sp_l = motor_U.Encode_Sp; |
| 22921 | motor_B.Slect_port_h = motor_U.System_Order; |
| 22922 | |
| 22923 | /* Outputs for Function Call SubSystem: '<S1>/Motor_XHZY' */ |
| 22924 | motor_Motor_XHZY(motor_M, motor_B.JD_In_d, motor_B.Encode_Pos_f, |
| 22925 | motor_B.YJ_In, motor_B.Encode_Sp_l, |
| 22926 | motor_B.Slect_port_h, &motor_B.Motor_XHZY, |
| 22927 | &motor_DWork.Motor_XHZY, (rtP_Motor_XHZY_motor *) |
| 22928 | &motor_P.Motor_XHZY, &motor_DWork.Angle_extern, |
| 22929 | &motor_DWork.Angle_internal, &motor_DWork.EN_extern, |
| 22930 | &motor_DWork.Forword, &motor_DWork.JD_XHZY, |
| 22931 | &motor_DWork.JD_XHZY_HC, &motor_DWork.KG_En, |
| 22932 | &motor_DWork.KG_JD, &motor_DWork.KG_YJ, |
| 22933 | &motor_DWork.KG_clc, &motor_DWork.P_KP, |
| 22934 | &motor_DWork.V_KI, &motor_DWork.V_KP, |
| 22935 | &motor_DWork.YJ_XHZY, &motor_DWork.YJ_XHZY_HC, |
| 22936 | &motor_DWork.chu_jd); |
| 22937 | |
| 22938 | /* End of Outputs for SubSystem: '<S1>/Motor_XHZY' */ |
| 22939 | tmp_1 = motor_B.Motor_XHZY.ZXF_PWM; |
| 22940 | if (tmp_1 < 65536.0) { |
| 22941 | if (tmp_1 >= 0.0) { |
| 22942 | tmp = (uint16_T)tmp_1; |
| 22943 | } else { |
| 22944 | tmp = 0U; |
| 22945 | } |
| 22946 | } else { |
| 22947 | tmp = MAX_uint16_T; |
| 22948 | } |
| 22949 | |
| 22950 | motor_Y.PWMOUT = tmp; |
| 22951 | tmp_1 = motor_B.Motor_XHZY.KP_JD; |
| 22952 | if (tmp_1 < 2.147483648E+9) { |
| 22953 | if (tmp_1 >= -2.147483648E+9) { |
| 22954 | tmp_0 = (int32_T)tmp_1; |
| 22955 | } else { |
| 22956 | tmp_0 = MIN_int32_T; |
| 22957 | } |
| 22958 | } else { |
| 22959 | tmp_0 = MAX_int32_T; |
| 22960 | } |
| 22961 | |
| 22962 | motor_Y.JD_Out = tmp_0; |
| 22963 | tmp_1 = motor_B.Motor_XHZY.KP_e; |
| 22964 | if (tmp_1 < 2.147483648E+9) { |
| 22965 | if (tmp_1 >= -2.147483648E+9) { |
| 22966 | tmp_0 = (int32_T)tmp_1; |
| 22967 | } else { |
| 22968 | tmp_0 = MIN_int32_T; |
| 22969 | } |
| 22970 | } else { |
| 22971 | tmp_0 = MAX_int32_T; |
| 22972 | } |
| 22973 | |
| 22974 | motor_Y.JD_Error = tmp_0; |
| 22975 | motor_Y.SGWY_Out = motor_B.Motor_XHZY.DataTypeConversion4; |
| 22976 | } |
| 22977 | break; |
| 22978 | } |
| 22979 | break; |
| 22980 | |
| 22981 | case motor_IN_Limit_Down_Test: |
| 22982 | motor_Limit_Down_Test(); |
| 22983 | break; |
| 22984 | |
| 22985 | case motor_IN_Limit_Up_Test: |
| 22986 | motor_Limit_Up_Test(); |
| 22987 | break; |
| 22988 | |
| 22989 | default: |
| 22990 | motor_defult(); |
| 22991 | break; |
| 22992 | } |
| 22993 | } |
| 22994 | break; |
| 22995 | } |
| 22996 | |
| 22997 | if (guard1) { |
| 22998 | /* Inport: '<Root>/System_Order' */ |
| 22999 | if (motor_U.System_Order == 1) { |
| 23000 | /* Transition: '<S1>:388' */ |
| 23001 | /* Exit Internal 'Close': '<S1>:130' */ |
| 23002 | /* Exit Internal 'Algorithm': '<S1>:131' */ |
| 23003 | /* Exit Internal 'HYDG_Close': '<S1>:132' */ |
| 23004 | motor_DWork.is_HYDG_Close = motor_IN_NO_ACTIVE_CHILD; |
| 23005 | motor_DWork.is_Algorithm = motor_IN_NO_ACTIVE_CHILD; |
| 23006 | |
| 23007 | /* Exit Internal 'XHHY_Close': '<S1>:136' */ |
| 23008 | motor_DWork.is_XHHY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 23009 | |
| 23010 | /* Exit Internal 'XHZY_Close': '<S1>:140' */ |
| 23011 | motor_DWork.is_XHZY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 23012 | motor_DWork.is_Close = motor_IN_NO_ACTIVE_CHILD; |
| 23013 | motor_DWork.is_M_Run = motor_IN_Initialize; |
| 23014 | |
| 23015 | /* Entry 'Initialize': '<S1>:12' */ |
| 23016 | motor_Y.Ini_Result = 2U; |
| 23017 | |
| 23018 | /* 初始化未完成 */ |
| 23019 | motor_DWork.In_State = 1U; |
| 23020 | |
| 23021 | /* Entry Internal 'Initialize': '<S1>:12' */ |
| 23022 | /* Transition: '<S1>:396' */ |
| 23023 | motor_DWork.is_Initialize = motor_IN_Parameters_Reset0; |
| 23024 | motor_DWork.temporalCounter_i1 = 0U; |
| 23025 | |
| 23026 | /* Entry 'Parameters_Reset0': '<S1>:89' */ |
| 23027 | motor_Y.DCZD = false; |
| 23028 | |
| 23029 | /* 解除制动 */ |
| 23030 | } else if (motor_DWork.is_Close == motor_IN_Algorithm) { |
| 23031 | motor_Algorithm(); |
| 23032 | } else { |
| 23033 | /* During 'Close_Wait': '<S1>:241' */ |
| 23034 | if (motor_DWork.temporalCounter_i1 >= (uint32_T)(0.5 / motor_DWork.Ts)) { |
| 23035 | /* Inport: '<Root>/Motor_Num' */ |
| 23036 | /* Transition: '<S1>:497' */ |
| 23037 | if (motor_U.Motor_Num == 1) { |
| 23038 | /* Transition: '<S1>:502' */ |
| 23039 | motor_DWork.is_Close = motor_IN_Algorithm; |
| 23040 | motor_DWork.is_Algorithm = motor_IN_XHZY_Close; |
| 23041 | |
| 23042 | /* Entry 'XHZY_Close': '<S1>:140' */ |
| 23043 | motor_DWork.KG_En = 1U; |
| 23044 | motor_DWork.KG_JD = 0U; |
| 23045 | motor_DWork.KG_YJ = 0U; |
| 23046 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 23047 | motor_DWork.chu_jd = 0.0; |
| 23048 | |
| 23049 | /* Entry Internal 'XHZY_Close': '<S1>:140' */ |
| 23050 | /* Transition: '<S1>:523' */ |
| 23051 | motor_DWork.is_XHZY_Close = motor_IN_Defualt; |
| 23052 | motor_DWork.temporalCounter_i1 = 0U; |
| 23053 | } else if (motor_U.Motor_Num == 2) { |
| 23054 | /* Transition: '<S1>:503' */ |
| 23055 | motor_DWork.is_Close = motor_IN_Algorithm; |
| 23056 | motor_DWork.is_Algorithm = motor_IN_HYDG_Close; |
| 23057 | |
| 23058 | /* Entry 'HYDG_Close': '<S1>:132' */ |
| 23059 | motor_DWork.KG_JD = 0U; |
| 23060 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 23061 | |
| 23062 | /* Entry Internal 'HYDG_Close': '<S1>:132' */ |
| 23063 | /* Transition: '<S1>:506' */ |
| 23064 | motor_DWork.is_HYDG_Close = motor_IN_Int_k; |
| 23065 | |
| 23066 | /* Entry 'Int': '<S1>:312' */ |
| 23067 | /* Simulink Function 'Angle_Calculation_HY': '<S1>:253' */ |
| 23068 | motor_B.Encode_Pos_dc = motor_Y.Encode_Pos; |
| 23069 | |
| 23070 | /* Outputs for Function Call SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 23071 | motor_Angle_Calculation_HY(motor_B.Encode_Pos_dc, |
| 23072 | &motor_B.Angle_Calculation_HY, (rtP_Angle_Calculation_HY_motor *) |
| 23073 | &motor_P.Angle_Calculation_HY); |
| 23074 | |
| 23075 | /* End of Outputs for SubSystem: '<S1>/Angle_Calculation_HY' */ |
| 23076 | motor_DWork.chu_jd = motor_B.Angle_Calculation_HY.GHDG9; |
| 23077 | motor_DWork.KG = 1U; |
| 23078 | motor_DWork.KG_JD = 0U; |
| 23079 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 23080 | motor_DWork.Saturation_limit_speed = 16000.0; |
| 23081 | motor_DWork.Rate_limit_speed = 50000.0; |
| 23082 | } else { |
| 23083 | if (motor_U.Motor_Num == 3) { |
| 23084 | /* Transition: '<S1>:504' */ |
| 23085 | motor_DWork.is_Close = motor_IN_Algorithm; |
| 23086 | motor_DWork.is_Algorithm = motor_IN_XHHY_Close; |
| 23087 | |
| 23088 | /* Entry 'XHHY_Close': '<S1>:136' */ |
| 23089 | motor_DWork.KG_En = 1U; |
| 23090 | motor_DWork.KG_JD = 0U; |
| 23091 | motor_DWork.KG_clc = (uint8_T)!(motor_DWork.KG_clc != 0); |
| 23092 | motor_DWork.chu_jd = 0.0; |
| 23093 | |
| 23094 | /* Entry Internal 'XHHY_Close': '<S1>:136' */ |
| 23095 | /* Transition: '<S1>:516' */ |
| 23096 | motor_DWork.is_XHHY_Close = motor_IN_Defualt; |
| 23097 | motor_DWork.temporalCounter_i1 = 0U; |
| 23098 | } |
| 23099 | } |
| 23100 | |
| 23101 | /* End of Inport: '<Root>/Motor_Num' */ |
| 23102 | } |
| 23103 | } |
| 23104 | } |
| 23105 | } |
| 23106 | |
| 23107 | /* Function for Chart: '<Root>/Chart' */ |
| 23108 | static void motor_Ready_Run(void) |
| 23109 | { |
| 23110 | uint32_T q0; |
| 23111 | uint32_T qY; |
| 23112 | int32_T saturatedUnaryMinus; |
| 23113 | uint16_T tmp; |
| 23114 | real_T tmp_0; |
| 23115 | |
| 23116 | /* During 'Ready_Run': '<S1>:2' */ |
| 23117 | /* During 'Current_check': '<S1>:3' */ |
| 23118 | switch (motor_DWork.is_Current_check) { |
| 23119 | case motor_IN_p1: |
| 23120 | /* Inport: '<Root>/Cur_In' */ |
| 23121 | /* During 'p1': '<S1>:4' */ |
| 23122 | if ((motor_U.Cur_In >= motor_DWork.Cur_Limit) || (motor_U.Cur_In <= |
| 23123 | motor_DWork.Cur_Limit_Down)) { |
| 23124 | /* Transition: '<S1>:371' */ |
| 23125 | motor_DWork.is_Current_check = motor_IN_p2; |
| 23126 | |
| 23127 | /* Entry 'p2': '<S1>:7' */ |
| 23128 | motor_DWork.cur_i = 1U; |
| 23129 | } |
| 23130 | break; |
| 23131 | |
| 23132 | case motor_IN_p2: |
| 23133 | /* Inport: '<Root>/Cur_In' */ |
| 23134 | /* During 'p2': '<S1>:7' */ |
| 23135 | if ((motor_U.Cur_In < motor_DWork.Cur_Limit) && (motor_U.Cur_In > |
| 23136 | motor_DWork.Cur_Limit_Down)) { |
| 23137 | /* Transition: '<S1>:372' */ |
| 23138 | motor_DWork.is_Current_check = motor_IN_p1; |
| 23139 | |
| 23140 | /* Entry 'p1': '<S1>:4' */ |
| 23141 | motor_DWork.cur_i = 0U; |
| 23142 | |
| 23143 | /* 计数器置零 */ |
| 23144 | motor_Y.Flag_Cur = 1U; |
| 23145 | |
| 23146 | /* 电流正常 */ |
| 23147 | } else { |
| 23148 | tmp_0 = 2.0 / motor_DWork.Ts; |
| 23149 | if (tmp_0 < 65536.0) { |
| 23150 | if (tmp_0 >= 0.0) { |
| 23151 | tmp = (uint16_T)tmp_0; |
| 23152 | } else { |
| 23153 | tmp = 0U; |
| 23154 | } |
| 23155 | } else { |
| 23156 | tmp = MAX_uint16_T; |
| 23157 | } |
| 23158 | |
| 23159 | if (motor_DWork.cur_i >= tmp) { |
| 23160 | /* Transition: '<S1>:376' */ |
| 23161 | /* 2S */ |
| 23162 | motor_DWork.is_Current_check = motor_IN_p3; |
| 23163 | |
| 23164 | /* Entry 'p3': '<S1>:6' */ |
| 23165 | /* 0代表正常,1代表错误 */ |
| 23166 | motor_DWork.cur_i = 0U; |
| 23167 | motor_Y.Flag_Cur = 0U; |
| 23168 | |
| 23169 | /* 电机过流 */ |
| 23170 | motor_Y.Flag_GZ_Cur = 1U; |
| 23171 | |
| 23172 | /* 电机未严重过流 */ |
| 23173 | } else { |
| 23174 | saturatedUnaryMinus = motor_DWork.cur_i + 1; |
| 23175 | if (saturatedUnaryMinus > 65535) { |
| 23176 | saturatedUnaryMinus = 65535; |
| 23177 | } |
| 23178 | |
| 23179 | motor_DWork.cur_i = (uint16_T)saturatedUnaryMinus; |
| 23180 | } |
| 23181 | } |
| 23182 | break; |
| 23183 | |
| 23184 | case motor_IN_p3: |
| 23185 | /* Inport: '<Root>/Cur_In' */ |
| 23186 | /* During 'p3': '<S1>:6' */ |
| 23187 | if ((motor_U.Cur_In < motor_DWork.Cur_Limit) && (motor_U.Cur_In > |
| 23188 | motor_DWork.Cur_Limit_Down)) { |
| 23189 | /* Transition: '<S1>:374' */ |
| 23190 | motor_DWork.is_Current_check = motor_IN_p4; |
| 23191 | |
| 23192 | /* Entry 'p4': '<S1>:5' */ |
| 23193 | motor_DWork.cur_i = 1U; |
| 23194 | } else { |
| 23195 | if ((motor_U.Cur_In >= motor_DWork.Cur_GZ_Limit) || (motor_U.Cur_In <= |
| 23196 | motor_DWork.Cur_GZ_Limit_Down)) { |
| 23197 | /* Transition: '<S1>:377' */ |
| 23198 | motor_DWork.is_Current_check = motor_IN_p5; |
| 23199 | |
| 23200 | /* Entry 'p5': '<S1>:8' */ |
| 23201 | motor_DWork.cur_i = 1U; |
| 23202 | } |
| 23203 | } |
| 23204 | break; |
| 23205 | |
| 23206 | case motor_IN_p4: |
| 23207 | /* Inport: '<Root>/Cur_In' */ |
| 23208 | /* During 'p4': '<S1>:5' */ |
| 23209 | if ((motor_U.Cur_In >= motor_DWork.Cur_Limit) || (motor_U.Cur_In <= |
| 23210 | motor_DWork.Cur_Limit_Down)) { |
| 23211 | /* Transition: '<S1>:373' */ |
| 23212 | motor_DWork.is_Current_check = motor_IN_p3; |
| 23213 | |
| 23214 | /* Entry 'p3': '<S1>:6' */ |
| 23215 | /* 0代表正常,1代表错误 */ |
| 23216 | motor_DWork.cur_i = 0U; |
| 23217 | motor_Y.Flag_Cur = 0U; |
| 23218 | |
| 23219 | /* 电机过流 */ |
| 23220 | motor_Y.Flag_GZ_Cur = 1U; |
| 23221 | |
| 23222 | /* 电机未严重过流 */ |
| 23223 | } else { |
| 23224 | tmp_0 = 2.0 / motor_DWork.Ts; |
| 23225 | if (tmp_0 < 65536.0) { |
| 23226 | if (tmp_0 >= 0.0) { |
| 23227 | tmp = (uint16_T)tmp_0; |
| 23228 | } else { |
| 23229 | tmp = 0U; |
| 23230 | } |
| 23231 | } else { |
| 23232 | tmp = MAX_uint16_T; |
| 23233 | } |
| 23234 | |
| 23235 | if (motor_DWork.cur_i >= tmp) { |
| 23236 | /* Transition: '<S1>:370' */ |
| 23237 | motor_DWork.is_Current_check = motor_IN_p1; |
| 23238 | |
| 23239 | /* Entry 'p1': '<S1>:4' */ |
| 23240 | motor_DWork.cur_i = 0U; |
| 23241 | |
| 23242 | /* 计数器置零 */ |
| 23243 | motor_Y.Flag_Cur = 1U; |
| 23244 | |
| 23245 | /* 电流正常 */ |
| 23246 | } else { |
| 23247 | saturatedUnaryMinus = motor_DWork.cur_i + 1; |
| 23248 | if (saturatedUnaryMinus > 65535) { |
| 23249 | saturatedUnaryMinus = 65535; |
| 23250 | } |
| 23251 | |
| 23252 | motor_DWork.cur_i = (uint16_T)saturatedUnaryMinus; |
| 23253 | } |
| 23254 | } |
| 23255 | break; |
| 23256 | |
| 23257 | case motor_IN_p5: |
| 23258 | /* During 'p5': '<S1>:8' */ |
| 23259 | tmp_0 = 2.0 / motor_DWork.Ts; |
| 23260 | if (tmp_0 < 65536.0) { |
| 23261 | if (tmp_0 >= 0.0) { |
| 23262 | tmp = (uint16_T)tmp_0; |
| 23263 | } else { |
| 23264 | tmp = 0U; |
| 23265 | } |
| 23266 | } else { |
| 23267 | tmp = MAX_uint16_T; |
| 23268 | } |
| 23269 | |
| 23270 | if (motor_DWork.cur_i >= tmp) { |
| 23271 | /* Transition: '<S1>:379' */ |
| 23272 | /* 2S */ |
| 23273 | motor_DWork.is_Current_check = motor_IN_p6; |
| 23274 | |
| 23275 | /* Entry 'p6': '<S1>:10' */ |
| 23276 | /* Motor_En=1;%电机失能 */ |
| 23277 | motor_Y.Flag_GZ_Cur = 0U; |
| 23278 | |
| 23279 | /* 电机严重过流 */ |
| 23280 | } else if ((motor_U.Cur_In < motor_DWork.Cur_GZ_Limit) && (motor_U.Cur_In > |
| 23281 | motor_DWork.Cur_GZ_Limit_Down)) { |
| 23282 | /* Transition: '<S1>:378' */ |
| 23283 | motor_DWork.is_Current_check = motor_IN_p3; |
| 23284 | |
| 23285 | /* Entry 'p3': '<S1>:6' */ |
| 23286 | /* 0代表正常,1代表错误 */ |
| 23287 | motor_DWork.cur_i = 0U; |
| 23288 | motor_Y.Flag_Cur = 0U; |
| 23289 | |
| 23290 | /* 电机过流 */ |
| 23291 | motor_Y.Flag_GZ_Cur = 1U; |
| 23292 | |
| 23293 | /* 电机未严重过流 */ |
| 23294 | } else { |
| 23295 | saturatedUnaryMinus = motor_DWork.cur_i + 1; |
| 23296 | if (saturatedUnaryMinus > 65535) { |
| 23297 | saturatedUnaryMinus = 65535; |
| 23298 | } |
| 23299 | |
| 23300 | motor_DWork.cur_i = (uint16_T)saturatedUnaryMinus; |
| 23301 | } |
| 23302 | break; |
| 23303 | |
| 23304 | case motor_IN_p6: |
| 23305 | /* Inport: '<Root>/Cur_In' */ |
| 23306 | /* During 'p6': '<S1>:10' */ |
| 23307 | if ((motor_U.Cur_In < motor_DWork.Cur_GZ_Limit) && (motor_U.Cur_In > |
| 23308 | motor_DWork.Cur_GZ_Limit_Down)) { |
| 23309 | /* Transition: '<S1>:380' */ |
| 23310 | motor_DWork.is_Current_check = motor_IN_p7; |
| 23311 | |
| 23312 | /* Entry 'p7': '<S1>:9' */ |
| 23313 | motor_DWork.cur_i = 1U; |
| 23314 | } |
| 23315 | break; |
| 23316 | |
| 23317 | default: |
| 23318 | /* Inport: '<Root>/Cur_In' */ |
| 23319 | /* During 'p7': '<S1>:9' */ |
| 23320 | if ((motor_U.Cur_In >= motor_DWork.Cur_GZ_Limit) || (motor_U.Cur_In <= |
| 23321 | motor_DWork.Cur_GZ_Limit_Down)) { |
| 23322 | /* Transition: '<S1>:381' */ |
| 23323 | motor_DWork.is_Current_check = motor_IN_p6; |
| 23324 | |
| 23325 | /* Entry 'p6': '<S1>:10' */ |
| 23326 | /* Motor_En=1;%电机失能 */ |
| 23327 | motor_Y.Flag_GZ_Cur = 0U; |
| 23328 | |
| 23329 | /* 电机严重过流 */ |
| 23330 | } else { |
| 23331 | tmp_0 = 2.0 / motor_DWork.Ts; |
| 23332 | if (tmp_0 < 65536.0) { |
| 23333 | if (tmp_0 >= 0.0) { |
| 23334 | tmp = (uint16_T)tmp_0; |
| 23335 | } else { |
| 23336 | tmp = 0U; |
| 23337 | } |
| 23338 | } else { |
| 23339 | tmp = MAX_uint16_T; |
| 23340 | } |
| 23341 | |
| 23342 | if (motor_DWork.cur_i >= tmp) { |
| 23343 | /* Transition: '<S1>:375' */ |
| 23344 | motor_DWork.is_Current_check = motor_IN_p3; |
| 23345 | |
| 23346 | /* Entry 'p3': '<S1>:6' */ |
| 23347 | /* 0代表正常,1代表错误 */ |
| 23348 | motor_DWork.cur_i = 0U; |
| 23349 | motor_Y.Flag_Cur = 0U; |
| 23350 | |
| 23351 | /* 电机过流 */ |
| 23352 | motor_Y.Flag_GZ_Cur = 1U; |
| 23353 | |
| 23354 | /* 电机未严重过流 */ |
| 23355 | } else { |
| 23356 | saturatedUnaryMinus = motor_DWork.cur_i + 1; |
| 23357 | if (saturatedUnaryMinus > 65535) { |
| 23358 | saturatedUnaryMinus = 65535; |
| 23359 | } |
| 23360 | |
| 23361 | motor_DWork.cur_i = (uint16_T)saturatedUnaryMinus; |
| 23362 | } |
| 23363 | } |
| 23364 | break; |
| 23365 | } |
| 23366 | |
| 23367 | /* Inport: '<Root>/Temp_In' incorporates: |
| 23368 | * Inport: '<Root>/Cur_In' |
| 23369 | */ |
| 23370 | /* During 'Temp_check': '<S1>:56' */ |
| 23371 | q0 = motor_U.Temp_In; |
| 23372 | if (q0 > 65535U) { |
| 23373 | q0 = 65535U; |
| 23374 | } |
| 23375 | |
| 23376 | qY = motor_DWork.Temp_Up_Limit; |
| 23377 | if (qY > 65535U) { |
| 23378 | qY = 65535U; |
| 23379 | } |
| 23380 | |
| 23381 | motor_Y.Flag_Temp_Up = motor_Temp_Up_Check((uint16_T)q0, (uint16_T)qY); |
| 23382 | |
| 23383 | /* Inport: '<Root>/Temp_In' */ |
| 23384 | q0 = motor_U.Temp_In; |
| 23385 | if (q0 > 65535U) { |
| 23386 | q0 = 65535U; |
| 23387 | } |
| 23388 | |
| 23389 | qY = motor_DWork.Temp_Down_Limit; |
| 23390 | if (qY > 65535U) { |
| 23391 | qY = 65535U; |
| 23392 | } |
| 23393 | |
| 23394 | motor_Y.Flag_Temp_Down = motor_Temp_Down_Check((uint16_T)q0, (uint16_T)qY); |
| 23395 | motor_M_Run(); |
| 23396 | |
| 23397 | /* During 'ZHI_S_D': '<S1>:60' */ |
| 23398 | /* 指示灯 */ |
| 23399 | /* Simulink Function 'BJ': '<S1>:100' */ |
| 23400 | motor_B.x = motor_DWork.In_State; |
| 23401 | motor_B.y = motor_Y.QDQ_BJ; |
| 23402 | |
| 23403 | /* Outputs for Function Call SubSystem: '<S1>/BJ' */ |
| 23404 | /* DataStoreRead: '<S5>/Data Store Read1' */ |
| 23405 | motor_B.DataStoreRead1 = motor_DWork.PC1; |
| 23406 | |
| 23407 | /* DataStoreRead: '<S5>/Data Store Read' */ |
| 23408 | motor_B.DataStoreRead = motor_DWork.PC2; |
| 23409 | |
| 23410 | /* SwitchCase: '<S5>/Switch Case' */ |
| 23411 | switch (motor_B.x) { |
| 23412 | case 1: |
| 23413 | /* Outputs for IfAction SubSystem: '<S5>/If Action Subsystem' incorporates: |
| 23414 | * ActionPort: '<S23>/Action Port' |
| 23415 | */ |
| 23416 | motor_IfActionSubsystem_n(motor_B.y, &motor_B.IfActionSubsystem, |
| 23417 | &motor_DWork.IfActionSubsystem, (rtP_IfActionSubsystem_motor *) |
| 23418 | &motor_P.IfActionSubsystem, &motor_DWork.PC1, &motor_DWork.PC2); |
| 23419 | |
| 23420 | /* End of Outputs for SubSystem: '<S5>/If Action Subsystem' */ |
| 23421 | break; |
| 23422 | |
| 23423 | case 2: |
| 23424 | /* Outputs for IfAction SubSystem: '<S5>/If Action Subsystem1' incorporates: |
| 23425 | * ActionPort: '<S24>/Action Port' |
| 23426 | */ |
| 23427 | /* If: '<S24>/If' */ |
| 23428 | if (motor_B.y == 2.0) { |
| 23429 | /* Outputs for IfAction SubSystem: '<S24>/If Action Subsystem' incorporates: |
| 23430 | * ActionPort: '<S29>/Action Port' |
| 23431 | */ |
| 23432 | motor_IfActionSubsystem(&motor_B.IfActionSubsystem_f, |
| 23433 | &motor_DWork.IfActionSubsystem_f, (rtP_IfActionSubsystem_motor_m *) |
| 23434 | &motor_P.IfActionSubsystem_f, &motor_DWork.PC1, &motor_DWork.PC2); |
| 23435 | |
| 23436 | /* End of Outputs for SubSystem: '<S24>/If Action Subsystem' */ |
| 23437 | } else if (motor_B.y == 3.0) { |
| 23438 | /* Outputs for IfAction SubSystem: '<S24>/If Action Subsystem1' incorporates: |
| 23439 | * ActionPort: '<S30>/Action Port' |
| 23440 | */ |
| 23441 | motor_IfActionSubsystem1(&motor_B.IfActionSubsystem1_m, |
| 23442 | &motor_DWork.IfActionSubsystem1_m, (rtP_IfActionSubsystem1_motor *) |
| 23443 | &motor_P.IfActionSubsystem1_m, &motor_DWork.PC1, &motor_DWork.PC2); |
| 23444 | |
| 23445 | /* End of Outputs for SubSystem: '<S24>/If Action Subsystem1' */ |
| 23446 | } else { |
| 23447 | /* Outputs for IfAction SubSystem: '<S24>/If Action Subsystem2' incorporates: |
| 23448 | * ActionPort: '<S31>/Action Port' |
| 23449 | */ |
| 23450 | /* DataStoreWrite: '<S31>/Data Store Write1' incorporates: |
| 23451 | * Constant: '<S31>/Constant' |
| 23452 | */ |
| 23453 | motor_DWork.PC1 = motor_P.Constant_Value; |
| 23454 | |
| 23455 | /* DiscretePulseGenerator: '<S31>/Pulse Generator' */ |
| 23456 | motor_B.PulseGenerator = (motor_DWork.clockTickCounter < |
| 23457 | motor_P.PulseGenerator_Duty) && (motor_DWork.clockTickCounter >= 0) ? |
| 23458 | motor_P.PulseGenerator_Amp : 0.0; |
| 23459 | if (motor_DWork.clockTickCounter >= motor_P.PulseGenerator_Period - 1.0) { |
| 23460 | motor_DWork.clockTickCounter = 0; |
| 23461 | } else { |
| 23462 | motor_DWork.clockTickCounter++; |
| 23463 | } |
| 23464 | |
| 23465 | /* End of DiscretePulseGenerator: '<S31>/Pulse Generator' */ |
| 23466 | |
| 23467 | /* DataTypeConversion: '<S31>/Data Type Conversion' */ |
| 23468 | motor_B.DataTypeConversion = (motor_B.PulseGenerator != 0.0); |
| 23469 | |
| 23470 | /* DataStoreWrite: '<S31>/Data Store Write' */ |
| 23471 | motor_DWork.PC2 = motor_B.DataTypeConversion; |
| 23472 | |
| 23473 | /* End of Outputs for SubSystem: '<S24>/If Action Subsystem2' */ |
| 23474 | } |
| 23475 | |
| 23476 | /* End of If: '<S24>/If' */ |
| 23477 | /* End of Outputs for SubSystem: '<S5>/If Action Subsystem1' */ |
| 23478 | break; |
| 23479 | |
| 23480 | case 3: |
| 23481 | /* Outputs for IfAction SubSystem: '<S5>/If Action Subsystem2' incorporates: |
| 23482 | * ActionPort: '<S25>/Action Port' |
| 23483 | */ |
| 23484 | motor_IfActionSubsystem_n(motor_B.y, &motor_B.IfActionSubsystem2, |
| 23485 | &motor_DWork.IfActionSubsystem2, (rtP_IfActionSubsystem_motor *) |
| 23486 | &motor_P.IfActionSubsystem2, &motor_DWork.PC1, &motor_DWork.PC2); |
| 23487 | |
| 23488 | /* End of Outputs for SubSystem: '<S5>/If Action Subsystem2' */ |
| 23489 | break; |
| 23490 | } |
| 23491 | |
| 23492 | /* End of SwitchCase: '<S5>/Switch Case' */ |
| 23493 | /* End of Outputs for SubSystem: '<S1>/BJ' */ |
| 23494 | motor_Y.QDQ_HY = motor_B.DataStoreRead1; |
| 23495 | motor_Y.QDQ_XH = motor_B.DataStoreRead; |
| 23496 | switch (motor_DWork.is_ZHI_S_D) { |
| 23497 | case motor_IN_QDQ_BJ: |
| 23498 | /* During 'QDQ_BJ': '<S1>:123' */ |
| 23499 | if ((motor_Y.Flag_Up_GZ_limit == 0) || (motor_Y.Flag_Down_GZ_limit == 0) || |
| 23500 | (motor_Y.Flag_GZ_Cur == 0) || (motor_Y.Flag_Motor_Error == 0) || |
| 23501 | (motor_Y.Flag_Temp_Down == 0) || (motor_Y.Flag_Enc_Error == 0) || |
| 23502 | (motor_Y.Flag_GXDY_IT == 0)) { |
| 23503 | /* Transition: '<S1>:450' */ |
| 23504 | motor_DWork.is_ZHI_S_D = motor_IN_QDQ_GZ; |
| 23505 | |
| 23506 | /* Entry 'QDQ_GZ': '<S1>:122' */ |
| 23507 | motor_Y.QDQ_BJ = 3U; |
| 23508 | motor_Y.Alarm_Cunt = 3U; |
| 23509 | motor_Y.Motor_En = true; |
| 23510 | } else if ((motor_Y.Flag_Cur == 1) && (motor_Y.Flag_Temp_Up == 1) && |
| 23511 | (motor_Y.Flag_Up_limit == 1) && (motor_Y.Flag_Down_limit == 1) && |
| 23512 | (motor_Y.Flag_GXDY_Error == 1) && (motor_Y.Flag_AngleError == 0)) |
| 23513 | { |
| 23514 | /* Transition: '<S1>:448' */ |
| 23515 | motor_DWork.is_ZHI_S_D = motor_IN_defult_b; |
| 23516 | |
| 23517 | /* Entry 'defult': '<S1>:70' */ |
| 23518 | motor_Y.QDQ_BJ = 1U; |
| 23519 | motor_Y.Alarm_Cunt = 1U; |
| 23520 | } else { |
| 23521 | motor_Y.Alarm_Cunt = 1U; |
| 23522 | } |
| 23523 | break; |
| 23524 | |
| 23525 | case motor_IN_QDQ_GZ: |
| 23526 | /* During 'QDQ_GZ': '<S1>:122' */ |
| 23527 | if ((motor_Y.Flag_GZ_Cur == 1) && (motor_Y.Flag_Motor_Error == 1) && |
| 23528 | (motor_Y.Flag_Temp_Down == 1) && (motor_Y.Flag_Enc_Error == 1) && |
| 23529 | (motor_Y.Flag_GXDY_IT == 1)) { |
| 23530 | /* Transition: '<S1>:1137' */ |
| 23531 | motor_DWork.is_ZHI_S_D = motor_IN_defult_b; |
| 23532 | |
| 23533 | /* Entry 'defult': '<S1>:70' */ |
| 23534 | motor_Y.QDQ_BJ = 1U; |
| 23535 | motor_Y.Alarm_Cunt = 1U; |
| 23536 | } else { |
| 23537 | motor_Y.Alarm_Cunt = 1U; |
| 23538 | } |
| 23539 | break; |
| 23540 | |
| 23541 | default: |
| 23542 | /* During 'defult': '<S1>:70' */ |
| 23543 | if ((motor_Y.Flag_Cur == 0) || (motor_Y.Flag_Temp_Up == 0) || |
| 23544 | (motor_Y.Flag_Up_limit == 0) || (motor_Y.Flag_Down_limit == 0) || |
| 23545 | (motor_Y.Flag_GXDY_Error == 0) || (motor_Y.Flag_AngleError == 0)) { |
| 23546 | /* Transition: '<S1>:447' */ |
| 23547 | motor_DWork.is_ZHI_S_D = motor_IN_QDQ_BJ; |
| 23548 | |
| 23549 | /* Entry 'QDQ_BJ': '<S1>:123' */ |
| 23550 | motor_Y.QDQ_BJ = 2U; |
| 23551 | motor_Y.Alarm_Cunt = 2U; |
| 23552 | } else { |
| 23553 | if ((motor_Y.Flag_GZ_Cur == 0) || (motor_Y.Flag_Motor_Error == 0) || |
| 23554 | (motor_Y.Flag_Temp_Down == 0) || (motor_Y.Flag_Enc_Error == 0) || |
| 23555 | (motor_Y.Flag_GXDY_IT == 0)) { |
| 23556 | /* Transition: '<S1>:449' */ |
| 23557 | motor_DWork.is_ZHI_S_D = motor_IN_QDQ_GZ; |
| 23558 | |
| 23559 | /* Entry 'QDQ_GZ': '<S1>:122' */ |
| 23560 | motor_Y.QDQ_BJ = 3U; |
| 23561 | motor_Y.Alarm_Cunt = 3U; |
| 23562 | motor_Y.Motor_En = true; |
| 23563 | } |
| 23564 | } |
| 23565 | break; |
| 23566 | } |
| 23567 | |
| 23568 | /* During 'Fault_Exit': '<S1>:1100' */ |
| 23569 | /* During 'Limit_Fault_Exit': '<S1>:1128' */ |
| 23570 | switch (motor_DWork.is_Limit_Fault_Exit) { |
| 23571 | case motor_IN_defult_bq: |
| 23572 | /* During 'defult': '<S1>:1107' */ |
| 23573 | saturatedUnaryMinus = motor_Y.JD_Out; |
| 23574 | if (saturatedUnaryMinus < 0) { |
| 23575 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23576 | saturatedUnaryMinus = MAX_int32_T; |
| 23577 | } else { |
| 23578 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23579 | } |
| 23580 | } |
| 23581 | |
| 23582 | /* Inport: '<Root>/Up_Limit' */ |
| 23583 | if ((motor_U.Up_Limit == 0) && (saturatedUnaryMinus > 10000)) { |
| 23584 | /* Transition: '<S1>:1130' */ |
| 23585 | motor_DWork.is_Limit_Fault_Exit = motor_IN_defult1_k; |
| 23586 | motor_DWork.temporalCounter_i7 = 0U; |
| 23587 | |
| 23588 | /* Entry 'defult1': '<S1>:1129' */ |
| 23589 | motor_Y.Flag_Up_GZ_limit = 1U; |
| 23590 | } else { |
| 23591 | saturatedUnaryMinus = motor_Y.JD_Out; |
| 23592 | if (saturatedUnaryMinus < 0) { |
| 23593 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23594 | saturatedUnaryMinus = MAX_int32_T; |
| 23595 | } else { |
| 23596 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23597 | } |
| 23598 | } |
| 23599 | |
| 23600 | /* Inport: '<Root>/Down_Limit' */ |
| 23601 | if ((motor_U.Down_Limit == 0) && (saturatedUnaryMinus > 10000)) { |
| 23602 | /* Transition: '<S1>:1133' */ |
| 23603 | motor_DWork.is_Limit_Fault_Exit = motor_IN_defult2_e; |
| 23604 | motor_DWork.temporalCounter_i7 = 0U; |
| 23605 | |
| 23606 | /* Entry 'defult2': '<S1>:1132' */ |
| 23607 | motor_Y.Flag_Down_GZ_limit = 1U; |
| 23608 | } |
| 23609 | |
| 23610 | /* End of Inport: '<Root>/Down_Limit' */ |
| 23611 | } |
| 23612 | |
| 23613 | /* End of Inport: '<Root>/Up_Limit' */ |
| 23614 | break; |
| 23615 | |
| 23616 | case motor_IN_defult1_k: |
| 23617 | /* During 'defult1': '<S1>:1129' */ |
| 23618 | if (motor_DWork.temporalCounter_i7 >= (uint32_T)(10.0 / motor_DWork.Ts)) { |
| 23619 | /* Transition: '<S1>:1131' */ |
| 23620 | motor_DWork.is_Limit_Fault_Exit = motor_IN_defult_bq; |
| 23621 | } |
| 23622 | break; |
| 23623 | |
| 23624 | default: |
| 23625 | /* During 'defult2': '<S1>:1132' */ |
| 23626 | if (motor_DWork.temporalCounter_i7 >= (uint32_T)(10.0 / motor_DWork.Ts)) { |
| 23627 | /* Transition: '<S1>:1134' */ |
| 23628 | motor_DWork.is_Limit_Fault_Exit = motor_IN_defult_bq; |
| 23629 | } |
| 23630 | break; |
| 23631 | } |
| 23632 | |
| 23633 | /* During 'Motor_check': '<S1>:1144' */ |
| 23634 | switch (motor_DWork.is_Motor_check) { |
| 23635 | case motor_IN_defult_bq: |
| 23636 | /* Inport: '<Root>/Encode_Sp' */ |
| 23637 | /* During 'defult': '<S1>:1151' */ |
| 23638 | if (motor_U.Encode_Sp < 0) { |
| 23639 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 23640 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23641 | saturatedUnaryMinus = MAX_int32_T; |
| 23642 | } else { |
| 23643 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23644 | } |
| 23645 | } else { |
| 23646 | saturatedUnaryMinus = motor_U.Encode_Sp; |
| 23647 | } |
| 23648 | |
| 23649 | /* End of Inport: '<Root>/Encode_Sp' */ |
| 23650 | |
| 23651 | /* Inport: '<Root>/Cur_In' */ |
| 23652 | q0 = motor_U.Cur_In; |
| 23653 | qY = q0 - 1925U; |
| 23654 | if (qY > q0) { |
| 23655 | qY = 0U; |
| 23656 | } |
| 23657 | |
| 23658 | if (((motor_Y.PWMOUT > 4000) || (motor_Y.PWMOUT < 1000)) && |
| 23659 | (!motor_Y.Motor_En) && (qY < 10U) && (saturatedUnaryMinus < 3)) { |
| 23660 | /* Transition: '<S1>:1155' */ |
| 23661 | motor_DWork.is_Motor_check = motor_IN_defult1_k; |
| 23662 | motor_DWork.temporalCounter_i8 = 0U; |
| 23663 | } else { |
| 23664 | saturatedUnaryMinus = motor_Y.JD_Error; |
| 23665 | if (saturatedUnaryMinus < 0) { |
| 23666 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23667 | saturatedUnaryMinus = MAX_int32_T; |
| 23668 | } else { |
| 23669 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23670 | } |
| 23671 | } |
| 23672 | |
| 23673 | if ((!motor_Y.Motor_En) && (motor_DWork.Runing_stable == 1) && |
| 23674 | (saturatedUnaryMinus > 1500)) { |
| 23675 | /* Transition: '<S1>:1292' */ |
| 23676 | motor_DWork.is_Motor_check = motor_IN_defult1_k; |
| 23677 | motor_DWork.temporalCounter_i8 = 0U; |
| 23678 | } |
| 23679 | } |
| 23680 | break; |
| 23681 | |
| 23682 | case motor_IN_defult1_k: |
| 23683 | /* During 'defult1': '<S1>:1154' */ |
| 23684 | if (motor_DWork.temporalCounter_i8 >= (uint32_T)(2.0 / motor_DWork.Ts)) { |
| 23685 | /* Transition: '<S1>:1157' */ |
| 23686 | motor_DWork.is_Motor_check = motor_IN_defult2_e; |
| 23687 | motor_DWork.temporalCounter_i8 = 0U; |
| 23688 | |
| 23689 | /* Entry 'defult2': '<S1>:1156' */ |
| 23690 | motor_Y.Flag_Motor_Error = 0U; |
| 23691 | } else { |
| 23692 | saturatedUnaryMinus = motor_Y.JD_Error; |
| 23693 | if (saturatedUnaryMinus < 0) { |
| 23694 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23695 | saturatedUnaryMinus = MAX_int32_T; |
| 23696 | } else { |
| 23697 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23698 | } |
| 23699 | } |
| 23700 | |
| 23701 | if (motor_Y.Motor_En || (motor_DWork.Runing_stable == 0) || |
| 23702 | (saturatedUnaryMinus <= 1500)) { |
| 23703 | /* Transition: '<S1>:1293' */ |
| 23704 | motor_DWork.is_Motor_check = motor_IN_defult_bq; |
| 23705 | |
| 23706 | /* Entry 'defult': '<S1>:1151' */ |
| 23707 | motor_Y.Flag_Motor_Error = 1U; |
| 23708 | } |
| 23709 | } |
| 23710 | break; |
| 23711 | |
| 23712 | case motor_IN_defult2_e: |
| 23713 | /* During 'defult2': '<S1>:1156' */ |
| 23714 | if (motor_DWork.temporalCounter_i8 >= (uint32_T)(5.0 / motor_DWork.Ts)) { |
| 23715 | /* Transition: '<S1>:1160' */ |
| 23716 | motor_DWork.is_Motor_check = motor_IN_defult3; |
| 23717 | } |
| 23718 | break; |
| 23719 | |
| 23720 | case motor_IN_defult3: |
| 23721 | /* During 'defult3': '<S1>:1159' */ |
| 23722 | saturatedUnaryMinus = motor_Y.JD_Error; |
| 23723 | if (saturatedUnaryMinus < 0) { |
| 23724 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23725 | saturatedUnaryMinus = MAX_int32_T; |
| 23726 | } else { |
| 23727 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23728 | } |
| 23729 | } |
| 23730 | |
| 23731 | if (saturatedUnaryMinus <= 200) { |
| 23732 | /* Transition: '<S1>:1161' */ |
| 23733 | motor_DWork.is_Motor_check = motor_IN_defult4; |
| 23734 | motor_DWork.temporalCounter_i8 = 0U; |
| 23735 | } |
| 23736 | break; |
| 23737 | |
| 23738 | default: |
| 23739 | /* During 'defult4': '<S1>:1324' */ |
| 23740 | if (motor_DWork.temporalCounter_i8 >= (uint32_T)(5.0 / motor_DWork.Ts)) { |
| 23741 | /* Transition: '<S1>:1325' */ |
| 23742 | motor_DWork.is_Motor_check = motor_IN_defult_bq; |
| 23743 | |
| 23744 | /* Entry 'defult': '<S1>:1151' */ |
| 23745 | motor_Y.Flag_Motor_Error = 1U; |
| 23746 | } else { |
| 23747 | saturatedUnaryMinus = motor_Y.JD_Error; |
| 23748 | if (saturatedUnaryMinus < 0) { |
| 23749 | if (saturatedUnaryMinus <= MIN_int32_T) { |
| 23750 | saturatedUnaryMinus = MAX_int32_T; |
| 23751 | } else { |
| 23752 | saturatedUnaryMinus = -saturatedUnaryMinus; |
| 23753 | } |
| 23754 | } |
| 23755 | |
| 23756 | if (saturatedUnaryMinus > 200) { |
| 23757 | /* Transition: '<S1>:1326' */ |
| 23758 | motor_DWork.is_Motor_check = motor_IN_defult3; |
| 23759 | } |
| 23760 | } |
| 23761 | break; |
| 23762 | } |
| 23763 | } |
| 23764 | |
| 23765 | /* Model step function */ |
| 23766 | void motor_step(void) |
| 23767 | { |
| 23768 | /* Chart: '<Root>/Chart' incorporates: |
| 23769 | * Inport: '<Root>/Encode_Sp' |
| 23770 | * Inport: '<Root>/Motor_Num' |
| 23771 | * Inport: '<Root>/System_Order' |
| 23772 | */ |
| 23773 | /* Gateway: Chart */ |
| 23774 | if (motor_DWork.temporalCounter_i1 < MAX_uint32_T) { |
| 23775 | motor_DWork.temporalCounter_i1++; |
| 23776 | } |
| 23777 | |
| 23778 | if (motor_DWork.temporalCounter_i2 < MAX_uint32_T) { |
| 23779 | motor_DWork.temporalCounter_i2++; |
| 23780 | } |
| 23781 | |
| 23782 | if (motor_DWork.temporalCounter_i3 < MAX_uint32_T) { |
| 23783 | motor_DWork.temporalCounter_i3++; |
| 23784 | } |
| 23785 | |
| 23786 | if (motor_DWork.temporalCounter_i4 < MAX_uint32_T) { |
| 23787 | motor_DWork.temporalCounter_i4++; |
| 23788 | } |
| 23789 | |
| 23790 | if (motor_DWork.temporalCounter_i5 < MAX_uint32_T) { |
| 23791 | motor_DWork.temporalCounter_i5++; |
| 23792 | } |
| 23793 | |
| 23794 | if (motor_DWork.temporalCounter_i6 < 5.0 / motor_DWork.Ts) { |
| 23795 | motor_DWork.temporalCounter_i6++; |
| 23796 | } |
| 23797 | |
| 23798 | if (motor_DWork.temporalCounter_i7 < MAX_uint32_T) { |
| 23799 | motor_DWork.temporalCounter_i7++; |
| 23800 | } |
| 23801 | |
| 23802 | if (motor_DWork.temporalCounter_i8 < MAX_uint32_T) { |
| 23803 | motor_DWork.temporalCounter_i8++; |
| 23804 | } |
| 23805 | |
| 23806 | if (motor_DWork.temporalCounter_i9 < MAX_uint32_T) { |
| 23807 | motor_DWork.temporalCounter_i9++; |
| 23808 | } |
| 23809 | |
| 23810 | /* During: Chart */ |
| 23811 | if (motor_DWork.is_active_c3_motor == 0U) { |
| 23812 | /* Entry: Chart */ |
| 23813 | motor_DWork.is_active_c3_motor = 1U; |
| 23814 | |
| 23815 | /* Entry Internal: Chart */ |
| 23816 | /* Transition: '<S1>:561' */ |
| 23817 | motor_DWork.is_c3_motor = motor_IN_Ready; |
| 23818 | |
| 23819 | /* Entry 'Ready': '<S1>:1' */ |
| 23820 | motor_DWork.Cur_Limit = 2250U; |
| 23821 | |
| 23822 | /* 电流报警阈值 */ |
| 23823 | motor_DWork.Cur_GZ_Limit = 2450U; |
| 23824 | |
| 23825 | /* 电流故障阈值 */ |
| 23826 | motor_DWork.Cur_Limit_Down = 1650.0; |
| 23827 | |
| 23828 | /* 电流报警阈值 */ |
| 23829 | motor_DWork.Cur_GZ_Limit_Down = 1450.0; |
| 23830 | |
| 23831 | /* 电流故障阈值 */ |
| 23832 | motor_DWork.Temp_Up_Limit = 2130U; |
| 23833 | |
| 23834 | /* 温度上限阈值80°C */ |
| 23835 | motor_DWork.Temp_Down_Limit = 80U; |
| 23836 | |
| 23837 | /* Outport: '<Root>/Open_Result' */ |
| 23838 | /* 温度下限阈值-45°C */ |
| 23839 | motor_Y.Open_Result = 2U; |
| 23840 | |
| 23841 | /* Outport: '<Root>/Ini_Result' */ |
| 23842 | /* 开机结果失败 */ |
| 23843 | motor_Y.Ini_Result = 2U; |
| 23844 | |
| 23845 | /* Outport: '<Root>/dSpace_Init' */ |
| 23846 | /* 初始化结果 0失败 1成功 2未完成 */ |
| 23847 | motor_Y.dSpace_Init = 0U; |
| 23848 | |
| 23849 | /* Outport: '<Root>/QDQ_BJ' */ |
| 23850 | motor_Y.QDQ_BJ = 1U; |
| 23851 | |
| 23852 | /* 默认驱动器正常,1正常,2报警,3故障 */ |
| 23853 | motor_DWork.In_State = 0U; |
| 23854 | |
| 23855 | /* Outport: '<Root>/QDQ_XH' */ |
| 23856 | /* 状态标识,1表示初始化状态,2开机状态,3关机状态 */ |
| 23857 | motor_Y.QDQ_XH = false; |
| 23858 | |
| 23859 | /* Outport: '<Root>/QDQ_HY' */ |
| 23860 | /* QDQ_XH引脚状态,低 */ |
| 23861 | motor_Y.QDQ_HY = true; |
| 23862 | |
| 23863 | /* Outport: '<Root>/Motor_En' */ |
| 23864 | /* QDQ_HY引脚状态,高 */ |
| 23865 | motor_Y.Motor_En = true; |
| 23866 | |
| 23867 | /* Outport: '<Root>/DCZD' */ |
| 23868 | /* 电机使能引脚置高 */ |
| 23869 | motor_Y.DCZD = true; |
| 23870 | |
| 23871 | /* 电磁制动引脚拉高,关电制动,低有效 */ |
| 23872 | motor_DWork.KG_clc = 0U; |
| 23873 | motor_DWork.XiaoDaShen = 0.0; |
| 23874 | |
| 23875 | /* Outport: '<Root>/Alarm_Cunt' */ |
| 23876 | /* 限位测试不处理过限位报警 */ |
| 23877 | motor_Y.Alarm_Cunt = 1U; |
| 23878 | |
| 23879 | /* Outport: '<Root>/Flag_Up_limit' */ |
| 23880 | /* 实现程序中主动上报只执行发送一次 */ |
| 23881 | motor_Y.Flag_Up_limit = 1U; |
| 23882 | |
| 23883 | /* Outport: '<Root>/Flag_Down_limit' */ |
| 23884 | /* 上限位标识,1正常,0报警 */ |
| 23885 | motor_Y.Flag_Down_limit = 1U; |
| 23886 | |
| 23887 | /* Outport: '<Root>/Flag_Cur' */ |
| 23888 | /* 下限位标识,1正常,0报警 */ |
| 23889 | motor_Y.Flag_Cur = 1U; |
| 23890 | |
| 23891 | /* Outport: '<Root>/Flag_Temp_Up' */ |
| 23892 | /* 电流报警 */ |
| 23893 | motor_Y.Flag_Temp_Up = 1U; |
| 23894 | |
| 23895 | /* Outport: '<Root>/Flag_GXDY_Error' */ |
| 23896 | /* 温度过高标识 */ |
| 23897 | motor_Y.Flag_GXDY_Error = 1U; |
| 23898 | |
| 23899 | /* Outport: '<Root>/Flag_Enc_Error' */ |
| 23900 | /* 惯性单元数据异常标识 */ |
| 23901 | motor_Y.Flag_Enc_Error = 1U; |
| 23902 | |
| 23903 | /* Outport: '<Root>/Flag_Motor_Error' */ |
| 23904 | /* 编码器标识,1正常,0故障 */ |
| 23905 | motor_Y.Flag_Motor_Error = 1U; |
| 23906 | |
| 23907 | /* Outport: '<Root>/Flag_GZ_Cur' */ |
| 23908 | /* 电机正反转标识,1正常,0故障 */ |
| 23909 | motor_Y.Flag_GZ_Cur = 1U; |
| 23910 | |
| 23911 | /* Outport: '<Root>/Flag_Down_GZ_limit' */ |
| 23912 | /* 电流过高故障 */ |
| 23913 | motor_Y.Flag_Down_GZ_limit = 1U; |
| 23914 | |
| 23915 | /* Outport: '<Root>/Flag_Up_GZ_limit' */ |
| 23916 | /* 下限位开关故障标识,1正常,0故障 */ |
| 23917 | motor_Y.Flag_Up_GZ_limit = 1U; |
| 23918 | |
| 23919 | /* Outport: '<Root>/Flag_Temp_Down' */ |
| 23920 | /* 上限位开关故障标识,1正常,0故障 */ |
| 23921 | motor_Y.Flag_Temp_Down = 1U; |
| 23922 | |
| 23923 | /* Outport: '<Root>/Flag_GXDY_IT' */ |
| 23924 | /* 温度过低标识,1正常,0故障 */ |
| 23925 | motor_Y.Flag_GXDY_IT = 1U; |
| 23926 | |
| 23927 | /* 惯性单元通讯中断标识 */ |
| 23928 | motor_DWork.EN_extern = 0U; |
| 23929 | motor_DWork.Forword = 1U; |
| 23930 | |
| 23931 | /* 电机初始化上行PWM值 */ |
| 23932 | /* 电机初始化下行PWM值 */ |
| 23933 | motor_DWork.PWM_Value_Mid = 2500U; |
| 23934 | |
| 23935 | /* PWM中值 */ |
| 23936 | motor_DWork.Encode_Sp_Max = 3000U; |
| 23937 | |
| 23938 | /* 换算编码器测速最大值 */ |
| 23939 | motor_DWork.Encode_Sp_Min = 2U; |
| 23940 | |
| 23941 | /* 编码器测速最小值 */ |
| 23942 | motor_DWork.Encode_Pos1 = -1161718; |
| 23943 | |
| 23944 | /* 下滑纵摇XHZY下机械限位位置 */ |
| 23945 | motor_DWork.Encode_Pos2 = -1155272; |
| 23946 | |
| 23947 | /* 下滑横摇XHHY下机械限位位置 */ |
| 23948 | motor_DWork.Encode_Pos3 = -1173043; |
| 23949 | |
| 23950 | /* 横摇灯杆XYDG下机械限位位置 */ |
| 23951 | motor_DWork.Encode_Pos_Zero = 1000U; |
| 23952 | |
| 23953 | /* 零点检测,回到零点时的范围 */ |
| 23954 | /* 最小行程,检测电机是否正常运转 */ |
| 23955 | motor_DWork.JD_Max = 20000U; |
| 23956 | |
| 23957 | /* 角度变化最大值, */ |
| 23958 | motor_DWork.Ts = 0.002; |
| 23959 | |
| 23960 | /* 采样时间 */ |
| 23961 | /* Entry Internal 'Ready': '<S1>:1' */ |
| 23962 | /* Transition: '<S1>:1246' */ |
| 23963 | if (motor_U.Motor_Num == 1) { |
| 23964 | /* Transition: '<S1>:1247' */ |
| 23965 | motor_DWork.is_Ready = motor_IN_PID_parameters1; |
| 23966 | |
| 23967 | /* Entry 'PID_parameters1': '<S1>:1242' */ |
| 23968 | motor_DWork.P_KP = 380.0; |
| 23969 | motor_DWork.V_KP = 1.0; |
| 23970 | motor_DWork.V_KI = 10.0; |
| 23971 | } else if (motor_U.Motor_Num == 3) { |
| 23972 | /* Transition: '<S1>:1248' */ |
| 23973 | motor_DWork.is_Ready = motor_IN_PID_parameters2; |
| 23974 | |
| 23975 | /* Entry 'PID_parameters2': '<S1>:1243' */ |
| 23976 | motor_DWork.P_KP = 330.0; |
| 23977 | motor_DWork.V_KP = 1.0; |
| 23978 | motor_DWork.V_KI = 10.0; |
| 23979 | } else { |
| 23980 | if (motor_U.Motor_Num == 2) { |
| 23981 | /* Transition: '<S1>:1249' */ |
| 23982 | motor_DWork.is_Ready = motor_IN_PID_parameters3; |
| 23983 | |
| 23984 | /* Entry 'PID_parameters3': '<S1>:1244' */ |
| 23985 | motor_DWork.P_KP = 1200.0; |
| 23986 | motor_DWork.V_KP = 0.08; |
| 23987 | motor_DWork.V_KI = 0.8; |
| 23988 | } |
| 23989 | } |
| 23990 | } else if (motor_DWork.is_c3_motor == motor_IN_Ready) { |
| 23991 | /* During 'Ready': '<S1>:1' */ |
| 23992 | if (motor_U.System_Order == 1) { |
| 23993 | /* Transition: '<S1>:568' */ |
| 23994 | /* Exit Internal 'Ready': '<S1>:1' */ |
| 23995 | motor_DWork.is_Ready = motor_IN_NO_ACTIVE_CHILD; |
| 23996 | motor_DWork.is_c3_motor = motor_IN_Ready_Run; |
| 23997 | |
| 23998 | /* Entry Internal 'Ready_Run': '<S1>:2' */ |
| 23999 | motor_DWork.is_active_Current_check = 1U; |
| 24000 | |
| 24001 | /* Entry Internal 'Current_check': '<S1>:3' */ |
| 24002 | /* Transition: '<S1>:369' */ |
| 24003 | motor_DWork.is_Current_check = motor_IN_p1; |
| 24004 | |
| 24005 | /* Entry 'p1': '<S1>:4' */ |
| 24006 | motor_DWork.cur_i = 0U; |
| 24007 | |
| 24008 | /* Outport: '<Root>/Flag_Cur' */ |
| 24009 | /* 计数器置零 */ |
| 24010 | motor_Y.Flag_Cur = 1U; |
| 24011 | |
| 24012 | /* 电流正常 */ |
| 24013 | motor_DWork.is_active_Temp_check = 1U; |
| 24014 | motor_DWork.is_active_M_Run = 1U; |
| 24015 | |
| 24016 | /* Entry 'M_Run': '<S1>:11' */ |
| 24017 | motor_DWork.Encode_Pos0 += (real_T)motor_U.Encode_Sp; |
| 24018 | |
| 24019 | /* Entry Internal 'M_Run': '<S1>:11' */ |
| 24020 | /* Transition: '<S1>:384' */ |
| 24021 | motor_DWork.is_M_Run = motor_IN_Initialize; |
| 24022 | |
| 24023 | /* Outport: '<Root>/Ini_Result' incorporates: |
| 24024 | * Inport: '<Root>/Encode_Sp' |
| 24025 | */ |
| 24026 | /* Entry 'Initialize': '<S1>:12' */ |
| 24027 | motor_Y.Ini_Result = 2U; |
| 24028 | |
| 24029 | /* 初始化未完成 */ |
| 24030 | motor_DWork.In_State = 1U; |
| 24031 | |
| 24032 | /* Entry Internal 'Initialize': '<S1>:12' */ |
| 24033 | /* Transition: '<S1>:396' */ |
| 24034 | motor_DWork.is_Initialize = motor_IN_Parameters_Reset0; |
| 24035 | motor_DWork.temporalCounter_i1 = 0U; |
| 24036 | |
| 24037 | /* Outport: '<Root>/DCZD' */ |
| 24038 | /* Entry 'Parameters_Reset0': '<S1>:89' */ |
| 24039 | motor_Y.DCZD = false; |
| 24040 | |
| 24041 | /* 解除制动 */ |
| 24042 | motor_DWork.is_active_ZHI_S_D = 1U; |
| 24043 | |
| 24044 | /* Entry Internal 'ZHI_S_D': '<S1>:60' */ |
| 24045 | /* Transition: '<S1>:446' */ |
| 24046 | motor_DWork.is_ZHI_S_D = motor_IN_defult_b; |
| 24047 | |
| 24048 | /* Outport: '<Root>/QDQ_BJ' */ |
| 24049 | /* Entry 'defult': '<S1>:70' */ |
| 24050 | motor_Y.QDQ_BJ = 1U; |
| 24051 | |
| 24052 | /* Outport: '<Root>/Alarm_Cunt' */ |
| 24053 | motor_Y.Alarm_Cunt = 1U; |
| 24054 | motor_DWork.is_active_Fault_Exit = 1U; |
| 24055 | |
| 24056 | /* Entry 'Fault_Exit': '<S1>:1100' */ |
| 24057 | /* 解除故障 */ |
| 24058 | /* Entry Internal 'Fault_Exit': '<S1>:1100' */ |
| 24059 | motor_DWork.is_active_Limit_Fault_Exit = 1U; |
| 24060 | |
| 24061 | /* Entry Internal 'Limit_Fault_Exit': '<S1>:1128' */ |
| 24062 | /* Transition: '<S1>:1101' */ |
| 24063 | motor_DWork.is_Limit_Fault_Exit = motor_IN_defult_bq; |
| 24064 | motor_DWork.is_active_Motor_check = 1U; |
| 24065 | |
| 24066 | /* Entry 'Motor_check': '<S1>:1144' */ |
| 24067 | /* 电机故障诊断 */ |
| 24068 | /* Entry Internal 'Motor_check': '<S1>:1144' */ |
| 24069 | /* Transition: '<S1>:1146' */ |
| 24070 | motor_DWork.is_Motor_check = motor_IN_defult_bq; |
| 24071 | |
| 24072 | /* Outport: '<Root>/Flag_Motor_Error' */ |
| 24073 | /* Entry 'defult': '<S1>:1151' */ |
| 24074 | motor_Y.Flag_Motor_Error = 1U; |
| 24075 | } |
| 24076 | } else { |
| 24077 | motor_Ready_Run(); |
| 24078 | } |
| 24079 | |
| 24080 | if (5.0 / motor_DWork.Ts == motor_DWork.temporalCounter_i6) { |
| 24081 | motor_DWork.temporalCounter_i6 = 0U; |
| 24082 | } |
| 24083 | |
| 24084 | /* End of Chart: '<Root>/Chart' */ |
| 24085 | |
| 24086 | /* Update absolute time for base rate */ |
| 24087 | /* The "clockTick0" counts the number of times the code of this task has |
| 24088 | * been executed. The resolution of this integer timer is 0.002, which is the step size |
| 24089 | * of the task. Size of "clockTick0" ensures timer will not overflow during the |
| 24090 | * application lifespan selected. |
| 24091 | * Timer of this task consists of two 32 bit unsigned integers. |
| 24092 | * The two integers represent the low bits Timing.clockTick0 and the high bits |
| 24093 | * Timing.clockTickH0. When the low bit overflows to 0, the high bits increment. |
| 24094 | */ |
| 24095 | motor_M->Timing.clockTick0++; |
| 24096 | if (!motor_M->Timing.clockTick0) { |
| 24097 | motor_M->Timing.clockTickH0++; |
| 24098 | } |
| 24099 | } |
| 24100 | |
| 24101 | /* Model initialize function */ |
| 24102 | void motor_initialize(void) |
| 24103 | { |
| 24104 | /* Registration code */ |
| 24105 | |
| 24106 | /* initialize real-time model */ |
| 24107 | (void) memset((void *)motor_M, 0, |
| 24108 | sizeof(RT_MODEL_motor)); |
| 24109 | |
| 24110 | /* block I/O */ |
| 24111 | (void) memset(((void *) &motor_B), 0, |
| 24112 | sizeof(BlockIO_motor)); |
| 24113 | |
| 24114 | { |
| 24115 | motor_B.y = 0.0; |
| 24116 | motor_B.In = 0.0; |
| 24117 | motor_B.Showing_Angle = 0.0; |
| 24118 | motor_B.Showing_T = 0.0; |
| 24119 | motor_B.SFunction_o52 = 0.0; |
| 24120 | motor_B.SFunction_o53 = 0.0; |
| 24121 | motor_B.SFunction_o54 = 0.0; |
| 24122 | motor_B.SFunction_o55 = 0.0; |
| 24123 | motor_B.Showing_Angle_p = 0.0; |
| 24124 | motor_B.Showing_T_a = 0.0; |
| 24125 | motor_B.DataTypeConversion2 = 0.0; |
| 24126 | motor_B.GXZ6 = 0.0; |
| 24127 | motor_B.GXZ1 = 0.0; |
| 24128 | motor_B.UnitDelay = 0.0; |
| 24129 | motor_B.Add = 0.0; |
| 24130 | motor_B.Abs = 0.0; |
| 24131 | motor_B.PulseGenerator = 0.0; |
| 24132 | motor_B.Product = 0.0; |
| 24133 | motor_B.DiscreteTimeIntegrator = 0.0; |
| 24134 | motor_B.Sum1 = 0.0; |
| 24135 | motor_B.ZV_Kp = 0.0; |
| 24136 | motor_B.ZV_Kpt = 0.0; |
| 24137 | motor_B.ZV_Kp1 = 0.0; |
| 24138 | motor_B.ZV_KD = 0.0; |
| 24139 | motor_B.DiscreteTimeIntegrator1 = 0.0; |
| 24140 | motor_B.Sum = 0.0; |
| 24141 | motor_B.ZV_KN = 0.0; |
| 24142 | motor_B.Saturation = 0.0; |
| 24143 | motor_B.KD_KG = 0.0; |
| 24144 | motor_B.Sum2 = 0.0; |
| 24145 | motor_B.ZXF_PID = 0.0; |
| 24146 | motor_B.Subtract = 0.0; |
| 24147 | motor_B.ZXF_PWM = 0.0; |
| 24148 | motor_B.ZV_Ki = 0.0; |
| 24149 | motor_B.Showing_XHHY.MultiportSwitch = 0.0; |
| 24150 | motor_B.Showing_XHHY.DataStoreRead = 0.0; |
| 24151 | motor_B.Showing_XHHY.Product = 0.0; |
| 24152 | motor_B.Showing_XHHY.Gain = 0.0; |
| 24153 | motor_B.Showing_XHHY.DataTypeConversion1 = 0.0; |
| 24154 | motor_B.Showing_XHHY.SineWave1 = 0.0; |
| 24155 | motor_B.Showing_XHHY.SineWave2 = 0.0; |
| 24156 | motor_B.Showing_XHHY.SineWave3 = 0.0; |
| 24157 | motor_B.Showing_XHHY.SineWave4 = 0.0; |
| 24158 | motor_B.Showing_XHHY.SineWave5 = 0.0; |
| 24159 | motor_B.Showing_XHHY.SineWave6 = 0.0; |
| 24160 | motor_B.Showing_XHHY.SineWave7 = 0.0; |
| 24161 | motor_B.Showing_XHHY.SineWave8 = 0.0; |
| 24162 | motor_B.Waveform_Build.Delay5 = 0.0; |
| 24163 | motor_B.Waveform_Build.DataTypeConversion4 = 0.0; |
| 24164 | motor_B.Waveform_Build.Gain1 = 0.0; |
| 24165 | motor_B.Waveform_Build.XF_XHZY = 0.0; |
| 24166 | motor_B.Waveform_Build.Add16 = 0.0; |
| 24167 | motor_B.Waveform_Build.Delay7 = 0.0; |
| 24168 | motor_B.Waveform_Build.DataStoreRead1 = 0.0; |
| 24169 | motor_B.Waveform_Build.Delay6 = 0.0; |
| 24170 | motor_B.Waveform_Build.DataStoreRead4 = 0.0; |
| 24171 | motor_B.Waveform_Build.Add21 = 0.0; |
| 24172 | motor_B.Waveform_Build.Switch = 0.0; |
| 24173 | motor_B.Waveform_Build.Add20 = 0.0; |
| 24174 | motor_B.Waveform_Build.Abs2 = 0.0; |
| 24175 | motor_B.Waveform_Build.DataStoreRead5 = 0.0; |
| 24176 | motor_B.Waveform_Build.Divide1 = 0.0; |
| 24177 | motor_B.Waveform_Build.Saturation2 = 0.0; |
| 24178 | motor_B.Waveform_Build.Add13 = 0.0; |
| 24179 | motor_B.Waveform_Build.Add15 = 0.0; |
| 24180 | motor_B.Waveform_Build.Divide = 0.0; |
| 24181 | motor_B.Waveform_Build.Product1 = 0.0; |
| 24182 | motor_B.Waveform_Build.Saturation1 = 0.0; |
| 24183 | motor_B.Waveform_Build.sampletime = 0.0; |
| 24184 | motor_B.Waveform_Build.deltariselimit = 0.0; |
| 24185 | motor_B.Waveform_Build.Yk1 = 0.0; |
| 24186 | motor_B.Waveform_Build.UkYk1 = 0.0; |
| 24187 | motor_B.Waveform_Build.Gain3 = 0.0; |
| 24188 | motor_B.Waveform_Build.deltafalllimit = 0.0; |
| 24189 | motor_B.Waveform_Build.Switch_c = 0.0; |
| 24190 | motor_B.Waveform_Build.Switch2 = 0.0; |
| 24191 | motor_B.Waveform_Build.DifferenceInputs2 = 0.0; |
| 24192 | motor_B.Waveform_Build.Switch_e = 0.0; |
| 24193 | motor_B.Waveform_Build.Switch2_p = 0.0; |
| 24194 | motor_B.Waveform_Build.In1 = 0.0; |
| 24195 | motor_B.Waveform_Build.In1_n = 0.0; |
| 24196 | motor_B.Waveform_Build.DataStoreRead5_m = 0.0; |
| 24197 | motor_B.Waveform_Build.Add20_j = 0.0; |
| 24198 | motor_B.Waveform_Build.Saturation = 0.0; |
| 24199 | motor_B.Waveform_Build.DataStoreRead5_p = 0.0; |
| 24200 | motor_B.Waveform_Build.In1_m = 0.0; |
| 24201 | motor_B.Waveform_Build.y1 = 0.0; |
| 24202 | motor_B.Waveform_Build.y2 = 0.0; |
| 24203 | motor_B.Waveform_Build.Gain7 = 0.0; |
| 24204 | motor_B.Waveform_Build.Add12 = 0.0; |
| 24205 | motor_B.Waveform_Build.Add19 = 0.0; |
| 24206 | motor_B.Angle_Calculation_HY.DataTypeConversion1 = 0.0; |
| 24207 | motor_B.Angle_Calculation_HY.GHDG5 = 0.0; |
| 24208 | motor_B.Angle_Calculation_HY.GHDG7 = 0.0; |
| 24209 | motor_B.Angle_Calculation_HY.GHDG8 = 0.0; |
| 24210 | motor_B.Angle_Calculation_HY.Fcn7 = 0.0; |
| 24211 | motor_B.Angle_Calculation_HY.Cl1 = 0.0; |
| 24212 | motor_B.Angle_Calculation_HY.Fcn = 0.0; |
| 24213 | motor_B.Angle_Calculation_HY.Fcn4 = 0.0; |
| 24214 | motor_B.Angle_Calculation_HY.GHDG9 = 0.0; |
| 24215 | motor_B.Showing.MultiportSwitch = 0.0; |
| 24216 | motor_B.Showing.DataStoreRead = 0.0; |
| 24217 | motor_B.Showing.Product = 0.0; |
| 24218 | motor_B.Showing.DataTypeConversion1 = 0.0; |
| 24219 | motor_B.Showing.SineWave1 = 0.0; |
| 24220 | motor_B.Showing.SineWave2 = 0.0; |
| 24221 | motor_B.Showing.SineWave3 = 0.0; |
| 24222 | motor_B.Showing.SineWave4 = 0.0; |
| 24223 | motor_B.Showing.SineWave5 = 0.0; |
| 24224 | motor_B.Showing.SineWave6 = 0.0; |
| 24225 | motor_B.Showing.SineWave7 = 0.0; |
| 24226 | motor_B.Showing.SineWave8 = 0.0; |
| 24227 | motor_B.Motor_HYDG1.DiscreteTimeIntegrator = 0.0; |
| 24228 | motor_B.Motor_HYDG1.chu_jd = 0.0; |
| 24229 | motor_B.Motor_HYDG1.Product = 0.0; |
| 24230 | motor_B.Motor_HYDG1.Sum4 = 0.0; |
| 24231 | motor_B.Motor_HYDG1.GHDG2 = 0.0; |
| 24232 | motor_B.Motor_HYDG1.Fcn = 0.0; |
| 24233 | motor_B.Motor_HYDG1.Fcn1 = 0.0; |
| 24234 | motor_B.Motor_HYDG1.Fcn2 = 0.0; |
| 24235 | motor_B.Motor_HYDG1.Fcn3 = 0.0; |
| 24236 | motor_B.Motor_HYDG1.Sum1 = 0.0; |
| 24237 | motor_B.Motor_HYDG1.Fcn4 = 0.0; |
| 24238 | motor_B.Motor_HYDG1.Fcn15 = 0.0; |
| 24239 | motor_B.Motor_HYDG1.GHDG3 = 0.0; |
| 24240 | motor_B.Motor_HYDG1.GHDG4 = 0.0; |
| 24241 | motor_B.Motor_HYDG1.DataTypeConversion1 = 0.0; |
| 24242 | motor_B.Motor_HYDG1.GHDG5 = 0.0; |
| 24243 | motor_B.Motor_HYDG1.fk_dg1 = 0.0; |
| 24244 | motor_B.Motor_HYDG1.fk_dg = 0.0; |
| 24245 | motor_B.Motor_HYDG1.Sum = 0.0; |
| 24246 | motor_B.Motor_HYDG1.Saturation1 = 0.0; |
| 24247 | motor_B.Motor_HYDG1.ZP_Kp = 0.0; |
| 24248 | motor_B.Motor_HYDG1.ZV_KD1 = 0.0; |
| 24249 | motor_B.Motor_HYDG1.Sum_i = 0.0; |
| 24250 | motor_B.Motor_HYDG1.ZP_KN = 0.0; |
| 24251 | motor_B.Motor_HYDG1.KD_KG = 0.0; |
| 24252 | motor_B.Motor_HYDG1.P_KP = 0.0; |
| 24253 | motor_B.Motor_HYDG1.Product_i = 0.0; |
| 24254 | motor_B.Motor_HYDG1.Sum1_n = 0.0; |
| 24255 | motor_B.Motor_HYDG1.DiscreteTimeIntegrator_d = 0.0; |
| 24256 | motor_B.Motor_HYDG1.DiscreteTimeIntegrator1 = 0.0; |
| 24257 | motor_B.Motor_HYDG1.Saturation_limit_speed = 0.0; |
| 24258 | motor_B.Motor_HYDG1.KP_e2 = 0.0; |
| 24259 | motor_B.Motor_HYDG1.Switch = 0.0; |
| 24260 | motor_B.Motor_HYDG1.Switch2 = 0.0; |
| 24261 | motor_B.Motor_HYDG1.UnitDelay = 0.0; |
| 24262 | motor_B.Motor_HYDG1.Sum5 = 0.0; |
| 24263 | motor_B.Motor_HYDG1.GXZ5 = 0.0; |
| 24264 | motor_B.Motor_HYDG1.fk_dg2 = 0.0; |
| 24265 | motor_B.Motor_HYDG1.Sum2 = 0.0; |
| 24266 | motor_B.Motor_HYDG1.ZV_Kp = 0.0; |
| 24267 | motor_B.Motor_HYDG1.ZV_Kp1 = 0.0; |
| 24268 | motor_B.Motor_HYDG1.Sum_o = 0.0; |
| 24269 | motor_B.Motor_HYDG1.ZV_KN = 0.0; |
| 24270 | motor_B.Motor_HYDG1.KD_KG_h = 0.0; |
| 24271 | motor_B.Motor_HYDG1.V_KP = 0.0; |
| 24272 | motor_B.Motor_HYDG1.Product_i4 = 0.0; |
| 24273 | motor_B.Motor_HYDG1.V_KI = 0.0; |
| 24274 | motor_B.Motor_HYDG1.Product1 = 0.0; |
| 24275 | motor_B.Motor_HYDG1.Sign = 0.0; |
| 24276 | motor_B.Motor_HYDG1.ZV1_Kp1 = 0.0; |
| 24277 | motor_B.Motor_HYDG1.ZV1_Kp2 = 0.0; |
| 24278 | motor_B.Motor_HYDG1.Sum2_f = 0.0; |
| 24279 | motor_B.Motor_HYDG1.Sum1_ne = 0.0; |
| 24280 | motor_B.Motor_HYDG1.XF_PID = 0.0; |
| 24281 | motor_B.Motor_HYDG1.Sum3 = 0.0; |
| 24282 | motor_B.Motor_HYDG1.XF_PWM = 0.0; |
| 24283 | motor_B.Motor_HYDG1.GHDG7 = 0.0; |
| 24284 | motor_B.Motor_HYDG1.GHDG8 = 0.0; |
| 24285 | motor_B.Motor_HYDG1.Fcn7 = 0.0; |
| 24286 | motor_B.Motor_HYDG1.Cl1 = 0.0; |
| 24287 | motor_B.Motor_HYDG1.Fcn_l = 0.0; |
| 24288 | motor_B.Motor_HYDG1.Fcn4_g = 0.0; |
| 24289 | motor_B.Motor_HYDG1.GHDG9 = 0.0; |
| 24290 | motor_B.Motor_HYDG1.fk_dg3 = 0.0; |
| 24291 | motor_B.Motor_HYDG1.KP_JD = 0.0; |
| 24292 | motor_B.Motor_HYDG1.Sum1_h = 0.0; |
| 24293 | motor_B.Motor_HYDG1.KP_e = 0.0; |
| 24294 | motor_B.IfActionSubsystem2.IfActionSubsystem1.PulseGenerator = 0.0; |
| 24295 | motor_B.IfActionSubsystem2.IfActionSubsystem.PulseGenerator = 0.0; |
| 24296 | motor_B.IfActionSubsystem1_m.PulseGenerator = 0.0; |
| 24297 | motor_B.IfActionSubsystem_f.PulseGenerator = 0.0; |
| 24298 | motor_B.IfActionSubsystem.IfActionSubsystem1.PulseGenerator = 0.0; |
| 24299 | motor_B.IfActionSubsystem.IfActionSubsystem.PulseGenerator = 0.0; |
| 24300 | motor_B.Motor_XHZY.chu_jd = 0.0; |
| 24301 | motor_B.Motor_XHZY.DataTypeConversion3 = 0.0; |
| 24302 | motor_B.Motor_XHZY.GXZ2 = 0.0; |
| 24303 | motor_B.Motor_XHZY.XF_YJ = 0.0; |
| 24304 | motor_B.Motor_XHZY.Product2 = 0.0; |
| 24305 | motor_B.Motor_XHZY.DataStoreRead2 = 0.0; |
| 24306 | motor_B.Motor_XHZY.DataStoreRead3 = 0.0; |
| 24307 | motor_B.Motor_XHZY.DataTypeConversion1 = 0.0; |
| 24308 | motor_B.Motor_XHZY.GXZ6 = 0.0; |
| 24309 | motor_B.Motor_XHZY.GXZ1 = 0.0; |
| 24310 | motor_B.Motor_XHZY.GXZ9 = 0.0; |
| 24311 | motor_B.Motor_XHZY.Product = 0.0; |
| 24312 | motor_B.Motor_XHZY.GXZ7 = 0.0; |
| 24313 | motor_B.Motor_XHZY.Fcn1 = 0.0; |
| 24314 | motor_B.Motor_XHZY.Fcn2 = 0.0; |
| 24315 | motor_B.Motor_XHZY.Fcn3 = 0.0; |
| 24316 | motor_B.Motor_XHZY.Fcn6 = 0.0; |
| 24317 | motor_B.Motor_XHZY.GXZ8 = 0.0; |
| 24318 | motor_B.Motor_XHZY.Product3 = 0.0; |
| 24319 | motor_B.Motor_XHZY.Sum2 = 0.0; |
| 24320 | motor_B.Motor_XHZY.Sum = 0.0; |
| 24321 | motor_B.Motor_XHZY.JD_ek = 0.0; |
| 24322 | motor_B.Motor_XHZY.CDB_XHHY = 0.0; |
| 24323 | motor_B.Motor_XHZY.DiscreteTimeIntegrator = 0.0; |
| 24324 | motor_B.Motor_XHZY.P_KP = 0.0; |
| 24325 | motor_B.Motor_XHZY.Product_k = 0.0; |
| 24326 | motor_B.Motor_XHZY.ZP_Kp2 = 0.0; |
| 24327 | motor_B.Motor_XHZY.ZV_KD1 = 0.0; |
| 24328 | motor_B.Motor_XHZY.Sum_e = 0.0; |
| 24329 | motor_B.Motor_XHZY.ZP_KN = 0.0; |
| 24330 | motor_B.Motor_XHZY.KD_KG = 0.0; |
| 24331 | motor_B.Motor_XHZY.ZP_Kp1 = 0.0; |
| 24332 | motor_B.Motor_XHZY.Sum1 = 0.0; |
| 24333 | motor_B.Motor_XHZY.DiscreteTimeIntegrator_b = 0.0; |
| 24334 | motor_B.Motor_XHZY.DiscreteTimeIntegrator1 = 0.0; |
| 24335 | motor_B.Motor_XHZY.Saturation = 0.0; |
| 24336 | motor_B.Motor_XHZY.Sum1_n = 0.0; |
| 24337 | motor_B.Motor_XHZY.ZV_Kp = 0.0; |
| 24338 | motor_B.Motor_XHZY.ZV_Kp1 = 0.0; |
| 24339 | motor_B.Motor_XHZY.ZV_KD = 0.0; |
| 24340 | motor_B.Motor_XHZY.Sum_i = 0.0; |
| 24341 | motor_B.Motor_XHZY.ZV_KN = 0.0; |
| 24342 | motor_B.Motor_XHZY.Saturation_p = 0.0; |
| 24343 | motor_B.Motor_XHZY.KD_KG_a = 0.0; |
| 24344 | motor_B.Motor_XHZY.V_KP = 0.0; |
| 24345 | motor_B.Motor_XHZY.Product_p = 0.0; |
| 24346 | motor_B.Motor_XHZY.V_KI = 0.0; |
| 24347 | motor_B.Motor_XHZY.Product1 = 0.0; |
| 24348 | motor_B.Motor_XHZY.Saturation1 = 0.0; |
| 24349 | motor_B.Motor_XHZY.Product4 = 0.0; |
| 24350 | motor_B.Motor_XHZY.Sign = 0.0; |
| 24351 | motor_B.Motor_XHZY.ZV1_Kp1 = 0.0; |
| 24352 | motor_B.Motor_XHZY.ZV1_Kp2 = 0.0; |
| 24353 | motor_B.Motor_XHZY.Sum2_h = 0.0; |
| 24354 | motor_B.Motor_XHZY.Sum1_i = 0.0; |
| 24355 | motor_B.Motor_XHZY.KP_JD1 = 0.0; |
| 24356 | motor_B.Motor_XHZY.KP_JD = 0.0; |
| 24357 | motor_B.Motor_XHZY.KP_e = 0.0; |
| 24358 | motor_B.Motor_XHZY.ZXF_PID = 0.0; |
| 24359 | motor_B.Motor_XHZY.Subtract = 0.0; |
| 24360 | motor_B.Motor_XHZY.ZXF_PWM = 0.0; |
| 24361 | motor_B.Motor_XHZY.DataTypeConversion2 = 0.0; |
| 24362 | motor_B.Motor_XHZY.GXZ3 = 0.0; |
| 24363 | motor_B.Motor_XHZY.GXZ10 = 0.0; |
| 24364 | motor_B.Motor_XHZY.XF_XHZY = 0.0; |
| 24365 | motor_B.Motor_XHZY.Product1_a = 0.0; |
| 24366 | motor_B.Motor_HYDG.chu_jd = 0.0; |
| 24367 | motor_B.Motor_HYDG.Product = 0.0; |
| 24368 | motor_B.Motor_HYDG.DataTypeConversion1 = 0.0; |
| 24369 | motor_B.Motor_HYDG.GHDG5 = 0.0; |
| 24370 | motor_B.Motor_HYDG.GHDG7 = 0.0; |
| 24371 | motor_B.Motor_HYDG.GHDG8 = 0.0; |
| 24372 | motor_B.Motor_HYDG.Fcn7 = 0.0; |
| 24373 | motor_B.Motor_HYDG.Cl1 = 0.0; |
| 24374 | motor_B.Motor_HYDG.Fcn = 0.0; |
| 24375 | motor_B.Motor_HYDG.Fcn4 = 0.0; |
| 24376 | motor_B.Motor_HYDG.GHDG9 = 0.0; |
| 24377 | motor_B.Motor_HYDG.fk_dg = 0.0; |
| 24378 | motor_B.Motor_HYDG.Sum = 0.0; |
| 24379 | motor_B.Motor_HYDG.JD_ek = 0.0; |
| 24380 | motor_B.Motor_HYDG.CDB_XHHY = 0.0; |
| 24381 | motor_B.Motor_HYDG.DiscreteTimeIntegrator = 0.0; |
| 24382 | motor_B.Motor_HYDG.ZP_Kp = 0.0; |
| 24383 | motor_B.Motor_HYDG.ZP_Kp2 = 0.0; |
| 24384 | motor_B.Motor_HYDG.ZV_KD1 = 0.0; |
| 24385 | motor_B.Motor_HYDG.Sum_g = 0.0; |
| 24386 | motor_B.Motor_HYDG.ZP_KN = 0.0; |
| 24387 | motor_B.Motor_HYDG.KD_KG = 0.0; |
| 24388 | motor_B.Motor_HYDG.ZP_Kp1 = 0.0; |
| 24389 | motor_B.Motor_HYDG.Sum1 = 0.0; |
| 24390 | motor_B.Motor_HYDG.DiscreteTimeIntegrator_o = 0.0; |
| 24391 | motor_B.Motor_HYDG.DiscreteTimeIntegrator1 = 0.0; |
| 24392 | motor_B.Motor_HYDG.Saturation = 0.0; |
| 24393 | motor_B.Motor_HYDG.Sum2 = 0.0; |
| 24394 | motor_B.Motor_HYDG.ZV_Kp = 0.0; |
| 24395 | motor_B.Motor_HYDG.ZV_Kp1 = 0.0; |
| 24396 | motor_B.Motor_HYDG.ZV_KD = 0.0; |
| 24397 | motor_B.Motor_HYDG.Sum_n = 0.0; |
| 24398 | motor_B.Motor_HYDG.ZV_KN = 0.0; |
| 24399 | motor_B.Motor_HYDG.Saturation_b = 0.0; |
| 24400 | motor_B.Motor_HYDG.KD_KG_l = 0.0; |
| 24401 | motor_B.Motor_HYDG.Sign = 0.0; |
| 24402 | motor_B.Motor_HYDG.ZV1_Kp1 = 0.0; |
| 24403 | motor_B.Motor_HYDG.ZV1_Kp2 = 0.0; |
| 24404 | motor_B.Motor_HYDG.ZV_Ki1 = 0.0; |
| 24405 | motor_B.Motor_HYDG.ZV_Kpt = 0.0; |
| 24406 | motor_B.Motor_HYDG.Sum2_e = 0.0; |
| 24407 | motor_B.Motor_HYDG.Sum1_g = 0.0; |
| 24408 | motor_B.Motor_HYDG.XF_PID = 0.0; |
| 24409 | motor_B.Motor_HYDG.Sum3 = 0.0; |
| 24410 | motor_B.Motor_HYDG.XF_PWM = 0.0; |
| 24411 | motor_B.Motor_HYDG.KP_JD = 0.0; |
| 24412 | motor_B.Motor_HYDG.KP_e = 0.0; |
| 24413 | motor_B.Motor_XHHY.chu_jd = 0.0; |
| 24414 | motor_B.Motor_XHHY.DataStoreRead1 = 0.0; |
| 24415 | motor_B.Motor_XHHY.DataStoreRead2 = 0.0; |
| 24416 | motor_B.Motor_XHHY.DataTypeConversion1 = 0.0; |
| 24417 | motor_B.Motor_XHHY.GXZ6 = 0.0; |
| 24418 | motor_B.Motor_XHHY.GXZ1 = 0.0; |
| 24419 | motor_B.Motor_XHHY.GXZ9 = 0.0; |
| 24420 | motor_B.Motor_XHHY.Product = 0.0; |
| 24421 | motor_B.Motor_XHHY.DataTypeConversion3 = 0.0; |
| 24422 | motor_B.Motor_XHHY.GXZ2 = 0.0; |
| 24423 | motor_B.Motor_XHHY.Fcn1 = 0.0; |
| 24424 | motor_B.Motor_XHHY.Fcn2 = 0.0; |
| 24425 | motor_B.Motor_XHHY.Fcn3 = 0.0; |
| 24426 | motor_B.Motor_XHHY.Fcn6 = 0.0; |
| 24427 | motor_B.Motor_XHHY.Fcn4 = 0.0; |
| 24428 | motor_B.Motor_XHHY.Fcn10 = 0.0; |
| 24429 | motor_B.Motor_XHHY.GXZ7 = 0.0; |
| 24430 | motor_B.Motor_XHHY.Fcn5 = 0.0; |
| 24431 | motor_B.Motor_XHHY.Fcn7 = 0.0; |
| 24432 | motor_B.Motor_XHHY.Fcn8 = 0.0; |
| 24433 | motor_B.Motor_XHHY.Sum3 = 0.0; |
| 24434 | motor_B.Motor_XHHY.Fcn11 = 0.0; |
| 24435 | motor_B.Motor_XHHY.Sum2 = 0.0; |
| 24436 | motor_B.Motor_XHHY.Fcn9 = 0.0; |
| 24437 | motor_B.Motor_XHHY.Product_p = 0.0; |
| 24438 | motor_B.Motor_XHHY.Fcn12 = 0.0; |
| 24439 | motor_B.Motor_XHHY.GXH7 = 0.0; |
| 24440 | motor_B.Motor_XHHY.Product3 = 0.0; |
| 24441 | motor_B.Motor_XHHY.Sum2_m = 0.0; |
| 24442 | motor_B.Motor_XHHY.Sum = 0.0; |
| 24443 | motor_B.Motor_XHHY.XF_XHZY1 = 0.0; |
| 24444 | motor_B.Motor_XHHY.CDB_XHHY = 0.0; |
| 24445 | motor_B.Motor_XHHY.DiscreteTimeIntegrator = 0.0; |
| 24446 | motor_B.Motor_XHHY.P_KP = 0.0; |
| 24447 | motor_B.Motor_XHHY.Product_h = 0.0; |
| 24448 | motor_B.Motor_XHHY.ZP_Kp2 = 0.0; |
| 24449 | motor_B.Motor_XHHY.ZV_KD1 = 0.0; |
| 24450 | motor_B.Motor_XHHY.Sum_p = 0.0; |
| 24451 | motor_B.Motor_XHHY.ZP_KN = 0.0; |
| 24452 | motor_B.Motor_XHHY.KD_KG = 0.0; |
| 24453 | motor_B.Motor_XHHY.ZP_Kp1 = 0.0; |
| 24454 | motor_B.Motor_XHHY.Sum1 = 0.0; |
| 24455 | motor_B.Motor_XHHY.DiscreteTimeIntegrator_b = 0.0; |
| 24456 | motor_B.Motor_XHHY.DiscreteTimeIntegrator1 = 0.0; |
| 24457 | motor_B.Motor_XHHY.Saturation = 0.0; |
| 24458 | motor_B.Motor_XHHY.Sum1_d = 0.0; |
| 24459 | motor_B.Motor_XHHY.ZV_Kp = 0.0; |
| 24460 | motor_B.Motor_XHHY.ZV_Kp1 = 0.0; |
| 24461 | motor_B.Motor_XHHY.ZV_KD = 0.0; |
| 24462 | motor_B.Motor_XHHY.Sum_b = 0.0; |
| 24463 | motor_B.Motor_XHHY.ZV_KN = 0.0; |
| 24464 | motor_B.Motor_XHHY.Saturation_a = 0.0; |
| 24465 | motor_B.Motor_XHHY.KD_KG_a = 0.0; |
| 24466 | motor_B.Motor_XHHY.V_KP = 0.0; |
| 24467 | motor_B.Motor_XHHY.Product_e = 0.0; |
| 24468 | motor_B.Motor_XHHY.V_KI = 0.0; |
| 24469 | motor_B.Motor_XHHY.Product1 = 0.0; |
| 24470 | motor_B.Motor_XHHY.Sign = 0.0; |
| 24471 | motor_B.Motor_XHHY.ZV1_Kp1 = 0.0; |
| 24472 | motor_B.Motor_XHHY.ZV1_Kp2 = 0.0; |
| 24473 | motor_B.Motor_XHHY.Sum2_n = 0.0; |
| 24474 | motor_B.Motor_XHHY.Sum1_du = 0.0; |
| 24475 | motor_B.Motor_XHHY.KP_JD1 = 0.0; |
| 24476 | motor_B.Motor_XHHY.KP_e = 0.0; |
| 24477 | motor_B.Motor_XHHY.ZXF_PID = 0.0; |
| 24478 | motor_B.Motor_XHHY.Subtract = 0.0; |
| 24479 | motor_B.Motor_XHHY.ZXF_PWM = 0.0; |
| 24480 | motor_B.Motor_XHHY.DataTypeConversion4 = 0.0; |
| 24481 | motor_B.Motor_XHHY.DataTypeConversion2 = 0.0; |
| 24482 | motor_B.Motor_XHHY.GXZ3 = 0.0; |
| 24483 | motor_B.Motor_XHHY.XF_XHZY = 0.0; |
| 24484 | motor_B.Motor_XHHY.Product1_l = 0.0; |
| 24485 | } |
| 24486 | |
| 24487 | /* states (dwork) */ |
| 24488 | (void) memset((void *)&motor_DWork, 0, |
| 24489 | sizeof(D_Work_motor)); |
| 24490 | motor_DWork.UnitDelay_DSTATE = 0.0; |
| 24491 | motor_DWork.DiscreteTimeIntegrator_DSTATE = 0.0; |
| 24492 | motor_DWork.DiscreteTimeIntegrator1_DSTATE = 0.0; |
| 24493 | motor_DWork.Angle_extern = 0.0; |
| 24494 | motor_DWork.Angle_internal = 0.0; |
| 24495 | motor_DWork.P_KP = 0.0; |
| 24496 | motor_DWork.Rate_limit_speed = 0.0; |
| 24497 | motor_DWork.Saturation_limit_speed = 0.0; |
| 24498 | motor_DWork.T = 0.0; |
| 24499 | motor_DWork.T_Count = 0.0; |
| 24500 | motor_DWork.Temp1 = 0.0; |
| 24501 | motor_DWork.Temp2 = 0.0; |
| 24502 | motor_DWork.V_KI = 0.0; |
| 24503 | motor_DWork.V_KP = 0.0; |
| 24504 | motor_DWork.chu_jd = 0.0; |
| 24505 | motor_DWork.Angle_S = 0.0; |
| 24506 | motor_DWork.Ts = 0.0; |
| 24507 | motor_DWork.Encode_Pos0 = 0.0; |
| 24508 | motor_DWork.Showing_Angle0 = 0.0; |
| 24509 | motor_DWork.Showing_Angle_Last = 0.0; |
| 24510 | motor_DWork.Showing_T_Last = 0.0; |
| 24511 | motor_DWork.Average_En = 0.0; |
| 24512 | motor_DWork.XiaoDaShen = 0.0; |
| 24513 | motor_DWork.Cur_GZ_Limit_Down = 0.0; |
| 24514 | motor_DWork.Cur_Limit_Down = 0.0; |
| 24515 | motor_DWork.Sum1_DWORK1 = 0.0; |
| 24516 | motor_DWork.Waveform_Build.Delay5_DSTATE = 0.0; |
| 24517 | motor_DWork.Waveform_Build.Delay7_DSTATE = 0.0; |
| 24518 | motor_DWork.Waveform_Build.Delay6_DSTATE = 0.0; |
| 24519 | motor_DWork.Waveform_Build.DelayInput2_DSTATE = 0.0; |
| 24520 | motor_DWork.Motor_HYDG1.DiscreteTimeIntegrator_DSTATE = 0.0; |
| 24521 | motor_DWork.Motor_HYDG1.DiscreteTimeIntegrator_DSTATE_a = 0.0; |
| 24522 | motor_DWork.Motor_HYDG1.DiscreteTimeIntegrator1_DSTATE = 0.0; |
| 24523 | motor_DWork.Motor_HYDG1.UnitDelay_DSTATE = 0.0; |
| 24524 | motor_DWork.Motor_XHZY.DiscreteTimeIntegrator_DSTATE = 0.0; |
| 24525 | motor_DWork.Motor_XHZY.DiscreteTimeIntegrator_DSTATE_c = 0.0; |
| 24526 | motor_DWork.Motor_XHZY.DiscreteTimeIntegrator1_DSTATE = 0.0; |
| 24527 | motor_DWork.Motor_XHZY.Sum1_DWORK1 = 0.0; |
| 24528 | motor_DWork.Motor_HYDG.DiscreteTimeIntegrator_DSTATE = 0.0; |
| 24529 | motor_DWork.Motor_HYDG.DiscreteTimeIntegrator_DSTATE_i = 0.0; |
| 24530 | motor_DWork.Motor_HYDG.DiscreteTimeIntegrator1_DSTATE = 0.0; |
| 24531 | motor_DWork.Motor_HYDG.Sum2_DWORK1 = 0.0; |
| 24532 | motor_DWork.Motor_XHHY.DiscreteTimeIntegrator_DSTATE = 0.0; |
| 24533 | motor_DWork.Motor_XHHY.DiscreteTimeIntegrator_DSTATE_i = 0.0; |
| 24534 | motor_DWork.Motor_XHHY.DiscreteTimeIntegrator1_DSTATE = 0.0; |
| 24535 | motor_DWork.Motor_XHHY.Sum1_DWORK1 = 0.0; |
| 24536 | |
| 24537 | /* external inputs */ |
| 24538 | (void) memset((void *)&motor_U, 0, |
| 24539 | sizeof(ExternalInputs_motor)); |
| 24540 | |
| 24541 | /* external outputs */ |
| 24542 | (void) memset((void *)&motor_Y, 0, |
| 24543 | sizeof(ExternalOutputs_motor)); |
| 24544 | |
| 24545 | { |
| 24546 | uint32_T prevT_idx_1; |
| 24547 | uint32_T prevT_idx_0; |
| 24548 | |
| 24549 | /* Start for Chart: '<Root>/Chart' incorporates: |
| 24550 | * Start for SubSystem: '<S1>/BJ' |
| 24551 | */ |
| 24552 | |
| 24553 | /* Start for IfAction SubSystem: '<S5>/If Action Subsystem' */ |
| 24554 | motor_IfActionSubsystem_p_Start(&motor_DWork.IfActionSubsystem); |
| 24555 | |
| 24556 | /* End of Start for SubSystem: '<S5>/If Action Subsystem' */ |
| 24557 | |
| 24558 | /* Start for IfAction SubSystem: '<S5>/If Action Subsystem1' */ |
| 24559 | |
| 24560 | /* Start for IfAction SubSystem: '<S24>/If Action Subsystem' */ |
| 24561 | motor_IfActionSubsystem_Start(&motor_DWork.IfActionSubsystem_f); |
| 24562 | |
| 24563 | /* End of Start for SubSystem: '<S24>/If Action Subsystem' */ |
| 24564 | |
| 24565 | /* Start for IfAction SubSystem: '<S24>/If Action Subsystem1' */ |
| 24566 | motor_IfActionSubsystem1_Start(&motor_DWork.IfActionSubsystem1_m); |
| 24567 | |
| 24568 | /* End of Start for SubSystem: '<S24>/If Action Subsystem1' */ |
| 24569 | |
| 24570 | /* InitializeConditions for IfAction SubSystem: '<S24>/If Action Subsystem2' */ |
| 24571 | /* InitializeConditions for DiscretePulseGenerator: '<S31>/Pulse Generator' */ |
| 24572 | motor_DWork.clockTickCounter = 0; |
| 24573 | |
| 24574 | /* End of InitializeConditions for SubSystem: '<S24>/If Action Subsystem2' */ |
| 24575 | /* End of Start for SubSystem: '<S5>/If Action Subsystem1' */ |
| 24576 | |
| 24577 | /* Start for IfAction SubSystem: '<S5>/If Action Subsystem2' */ |
| 24578 | motor_IfActionSubsystem_p_Start(&motor_DWork.IfActionSubsystem2); |
| 24579 | |
| 24580 | /* End of Start for SubSystem: '<S5>/If Action Subsystem2' */ |
| 24581 | |
| 24582 | /* Start for Chart: '<Root>/Chart' incorporates: |
| 24583 | * Start for SubSystem: '<S1>/Waveform_Build' |
| 24584 | */ |
| 24585 | motor_Waveform_Build_Start(&motor_DWork.Waveform_Build); |
| 24586 | |
| 24587 | /* Start for DataStoreMemory: '<Root>/Angle_extern' */ |
| 24588 | motor_DWork.Angle_extern = motor_P.Angle_extern_InitialValue; |
| 24589 | |
| 24590 | /* Start for DataStoreMemory: '<Root>/Angle_internal' */ |
| 24591 | motor_DWork.Angle_internal = motor_P.Angle_internal_InitialValue; |
| 24592 | |
| 24593 | /* Start for DataStoreMemory: '<Root>/EN_extern' */ |
| 24594 | motor_DWork.EN_extern = motor_P.EN_extern_InitialValue; |
| 24595 | |
| 24596 | /* Start for DataStoreMemory: '<Root>/Forword' */ |
| 24597 | motor_DWork.Forword = motor_P.Forword_InitialValue; |
| 24598 | |
| 24599 | /* Start for DataStoreMemory: '<Root>/JD_HYDG' */ |
| 24600 | motor_DWork.JD_HYDG = motor_P.JD_HYDG_InitialValue; |
| 24601 | |
| 24602 | /* Start for DataStoreMemory: '<Root>/JD_HYDG_HC' */ |
| 24603 | motor_DWork.JD_HYDG_HC = motor_P.JD_HYDG_HC_InitialValue; |
| 24604 | |
| 24605 | /* Start for DataStoreMemory: '<Root>/JD_XHHY' */ |
| 24606 | motor_DWork.JD_XHHY = motor_P.JD_XHHY_InitialValue; |
| 24607 | |
| 24608 | /* Start for DataStoreMemory: '<Root>/JD_XHHY_HC' */ |
| 24609 | motor_DWork.JD_XHHY_HC = motor_P.JD_XHHY_HC_InitialValue; |
| 24610 | |
| 24611 | /* Start for DataStoreMemory: '<Root>/JD_XHZY' */ |
| 24612 | motor_DWork.JD_XHZY = motor_P.JD_XHZY_InitialValue; |
| 24613 | |
| 24614 | /* Start for DataStoreMemory: '<Root>/JD_XHZY_HC' */ |
| 24615 | motor_DWork.JD_XHZY_HC = motor_P.JD_XHZY_HC_InitialValue; |
| 24616 | |
| 24617 | /* Start for DataStoreMemory: '<Root>/KG' */ |
| 24618 | motor_DWork.KG = motor_P.KG_InitialValue; |
| 24619 | |
| 24620 | /* Start for DataStoreMemory: '<Root>/KG_En' */ |
| 24621 | motor_DWork.KG_En = motor_P.KG_En_InitialValue; |
| 24622 | |
| 24623 | /* Start for DataStoreMemory: '<Root>/KG_JD' */ |
| 24624 | motor_DWork.KG_JD = motor_P.KG_JD_InitialValue; |
| 24625 | |
| 24626 | /* Start for DataStoreMemory: '<Root>/KG_YJ' */ |
| 24627 | motor_DWork.KG_YJ = motor_P.KG_YJ_InitialValue; |
| 24628 | |
| 24629 | /* Start for DataStoreMemory: '<Root>/KG_clc' */ |
| 24630 | motor_DWork.KG_clc = motor_P.KG_clc_InitialValue; |
| 24631 | |
| 24632 | /* Start for DataStoreMemory: '<Root>/PC1' */ |
| 24633 | motor_DWork.PC1 = motor_P.PC1_InitialValue; |
| 24634 | |
| 24635 | /* Start for DataStoreMemory: '<Root>/PC2' */ |
| 24636 | motor_DWork.PC2 = motor_P.PC2_InitialValue; |
| 24637 | |
| 24638 | /* Start for DataStoreMemory: '<Root>/P_KP' */ |
| 24639 | motor_DWork.P_KP = motor_P.P_KP_InitialValue; |
| 24640 | |
| 24641 | /* Start for DataStoreMemory: '<Root>/Rate_limit_speed' */ |
| 24642 | motor_DWork.Rate_limit_speed = motor_P.Rate_limit_speed_InitialValue; |
| 24643 | |
| 24644 | /* Start for DataStoreMemory: '<Root>/Saturation_limit_speed' */ |
| 24645 | motor_DWork.Saturation_limit_speed = motor_P.Saturation_limit_speed_InitialV; |
| 24646 | |
| 24647 | /* Start for DataStoreMemory: '<Root>/T' */ |
| 24648 | motor_DWork.T = motor_P.T_InitialValue; |
| 24649 | |
| 24650 | /* Start for DataStoreMemory: '<Root>/T_Count' */ |
| 24651 | motor_DWork.T_Count = motor_P.T_Count_InitialValue; |
| 24652 | |
| 24653 | /* Start for DataStoreMemory: '<Root>/Temp1' */ |
| 24654 | motor_DWork.Temp1 = motor_P.Temp1_InitialValue; |
| 24655 | |
| 24656 | /* Start for DataStoreMemory: '<Root>/Temp2' */ |
| 24657 | motor_DWork.Temp2 = motor_P.Temp2_InitialValue; |
| 24658 | |
| 24659 | /* Start for DataStoreMemory: '<Root>/V_KI' */ |
| 24660 | motor_DWork.V_KI = motor_P.V_KI_InitialValue; |
| 24661 | |
| 24662 | /* Start for DataStoreMemory: '<Root>/V_KP' */ |
| 24663 | motor_DWork.V_KP = motor_P.V_KP_InitialValue; |
| 24664 | |
| 24665 | /* Start for DataStoreMemory: '<Root>/YJ_XHZY' */ |
| 24666 | motor_DWork.YJ_XHZY = motor_P.YJ_XHZY_InitialValue; |
| 24667 | |
| 24668 | /* Start for DataStoreMemory: '<Root>/YJ_XHZY_HC' */ |
| 24669 | motor_DWork.YJ_XHZY_HC = motor_P.YJ_XHZY_HC_InitialValue; |
| 24670 | |
| 24671 | /* Start for DataStoreMemory: '<Root>/chu_jd' */ |
| 24672 | motor_DWork.chu_jd = motor_P.chu_jd_InitialValue; |
| 24673 | |
| 24674 | /* Start for DataStoreMemory: '<Root>/chu_jd1' */ |
| 24675 | motor_DWork.Angle_S = motor_P.chu_jd1_InitialValue; |
| 24676 | motor_DWork.is_Ready = motor_IN_NO_ACTIVE_CHILD; |
| 24677 | motor_DWork.is_active_Current_check = 0U; |
| 24678 | motor_DWork.is_Current_check = motor_IN_NO_ACTIVE_CHILD; |
| 24679 | motor_DWork.is_active_Fault_Exit = 0U; |
| 24680 | motor_DWork.is_active_Limit_Fault_Exit = 0U; |
| 24681 | motor_DWork.is_Limit_Fault_Exit = motor_IN_NO_ACTIVE_CHILD; |
| 24682 | motor_DWork.temporalCounter_i7 = 0U; |
| 24683 | motor_DWork.is_active_M_Run = 0U; |
| 24684 | motor_DWork.is_M_Run = motor_IN_NO_ACTIVE_CHILD; |
| 24685 | motor_DWork.is_Close = motor_IN_NO_ACTIVE_CHILD; |
| 24686 | motor_DWork.is_Algorithm = motor_IN_NO_ACTIVE_CHILD; |
| 24687 | motor_DWork.is_HYDG_Close = motor_IN_NO_ACTIVE_CHILD; |
| 24688 | motor_DWork.is_XHHY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 24689 | motor_DWork.is_XHZY_Close = motor_IN_NO_ACTIVE_CHILD; |
| 24690 | motor_DWork.is_Initialize = motor_IN_NO_ACTIVE_CHILD; |
| 24691 | motor_DWork.is_hy = motor_IN_NO_ACTIVE_CHILD; |
| 24692 | motor_DWork.is_xhhy = motor_IN_NO_ACTIVE_CHILD; |
| 24693 | motor_DWork.is_xhzy = motor_IN_NO_ACTIVE_CHILD; |
| 24694 | motor_DWork.is_Normal_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 24695 | motor_DWork.is_active_Enc_GZ = 0U; |
| 24696 | motor_DWork.is_active_Enc1 = 0U; |
| 24697 | motor_DWork.is_Enc1 = motor_IN_NO_ACTIVE_CHILD; |
| 24698 | motor_DWork.is_active_Enc2 = 0U; |
| 24699 | motor_DWork.is_Enc2 = motor_IN_NO_ACTIVE_CHILD; |
| 24700 | motor_DWork.temporalCounter_i6 = 0U; |
| 24701 | motor_DWork.temporalCounter_i5 = 0U; |
| 24702 | motor_DWork.is_active_RUN = 0U; |
| 24703 | motor_DWork.is_active_Algorithm = 0U; |
| 24704 | motor_DWork.is_Algorithm_l = motor_IN_NO_ACTIVE_CHILD; |
| 24705 | motor_DWork.is_HY = motor_IN_NO_ACTIVE_CHILD; |
| 24706 | motor_DWork.is_XHHY = motor_IN_NO_ACTIVE_CHILD; |
| 24707 | motor_DWork.is_XHZY = motor_IN_NO_ACTIVE_CHILD; |
| 24708 | motor_DWork.is_active_Error_Check = 0U; |
| 24709 | motor_DWork.is_Error_Check = motor_IN_NO_ACTIVE_CHILD; |
| 24710 | motor_DWork.is_Error_Check_g = motor_IN_NO_ACTIVE_CHILD; |
| 24711 | motor_DWork.temporalCounter_i9 = 0U; |
| 24712 | motor_DWork.is_active_GXDY_COM_GZ = 0U; |
| 24713 | motor_DWork.is_GXDY_COM_GZ = motor_IN_NO_ACTIVE_CHILD; |
| 24714 | motor_DWork.temporalCounter_i3 = 0U; |
| 24715 | motor_DWork.is_active_GXDY_SJ_BJ = 0U; |
| 24716 | motor_DWork.is_GXDY_SJ_BJ = motor_IN_NO_ACTIVE_CHILD; |
| 24717 | motor_DWork.is_active_Limit_Check = 0U; |
| 24718 | motor_DWork.is_Limit_Check = motor_IN_NO_ACTIVE_CHILD; |
| 24719 | motor_DWork.temporalCounter_i4 = 0U; |
| 24720 | motor_DWork.is_Showing_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 24721 | motor_DWork.is_active_Algorithm_b = 0U; |
| 24722 | motor_DWork.is_Algorithm_e = motor_IN_NO_ACTIVE_CHILD; |
| 24723 | motor_DWork.is_HY_e = motor_IN_NO_ACTIVE_CHILD; |
| 24724 | motor_DWork.is_Limit_Down_Test_i = motor_IN_NO_ACTIVE_CHILD; |
| 24725 | motor_DWork.is_HY_aj = motor_IN_NO_ACTIVE_CHILD; |
| 24726 | motor_DWork.is_XHHY_fs = motor_IN_NO_ACTIVE_CHILD; |
| 24727 | motor_DWork.is_XHZY_m = motor_IN_NO_ACTIVE_CHILD; |
| 24728 | motor_DWork.is_Limit_Up_Test_j = motor_IN_NO_ACTIVE_CHILD; |
| 24729 | motor_DWork.is_HY_l = motor_IN_NO_ACTIVE_CHILD; |
| 24730 | motor_DWork.is_XHHY_nb = motor_IN_NO_ACTIVE_CHILD; |
| 24731 | motor_DWork.is_XHZY_d = motor_IN_NO_ACTIVE_CHILD; |
| 24732 | motor_DWork.is_XHHY_n = motor_IN_NO_ACTIVE_CHILD; |
| 24733 | motor_DWork.is_XHZY_h = motor_IN_NO_ACTIVE_CHILD; |
| 24734 | motor_DWork.temporalCounter_i2 = 0U; |
| 24735 | motor_DWork.is_active_Limit_Check_o = 0U; |
| 24736 | motor_DWork.is_Limit_Check_j = motor_IN_NO_ACTIVE_CHILD; |
| 24737 | motor_DWork.is_Test_Mode = motor_IN_NO_ACTIVE_CHILD; |
| 24738 | motor_DWork.is_Dspace_Test = motor_IN_NO_ACTIVE_CHILD; |
| 24739 | motor_DWork.is_Elevation_Test = motor_IN_NO_ACTIVE_CHILD; |
| 24740 | motor_DWork.is_Limit_Down_Test = motor_IN_NO_ACTIVE_CHILD; |
| 24741 | motor_DWork.is_HY_h = motor_IN_NO_ACTIVE_CHILD; |
| 24742 | motor_DWork.is_XHHY_f = motor_IN_NO_ACTIVE_CHILD; |
| 24743 | motor_DWork.is_XHZY_i = motor_IN_NO_ACTIVE_CHILD; |
| 24744 | motor_DWork.is_Limit_Up_Test = motor_IN_NO_ACTIVE_CHILD; |
| 24745 | motor_DWork.is_HY_a = motor_IN_NO_ACTIVE_CHILD; |
| 24746 | motor_DWork.is_XHHY_nl = motor_IN_NO_ACTIVE_CHILD; |
| 24747 | motor_DWork.is_XHZY_a = motor_IN_NO_ACTIVE_CHILD; |
| 24748 | motor_DWork.temporalCounter_i1 = 0U; |
| 24749 | motor_DWork.is_active_Motor_check = 0U; |
| 24750 | motor_DWork.is_Motor_check = motor_IN_NO_ACTIVE_CHILD; |
| 24751 | motor_DWork.temporalCounter_i8 = 0U; |
| 24752 | motor_DWork.is_active_Temp_check = 0U; |
| 24753 | motor_DWork.is_active_ZHI_S_D = 0U; |
| 24754 | motor_DWork.is_ZHI_S_D = motor_IN_NO_ACTIVE_CHILD; |
| 24755 | motor_DWork.is_active_c3_motor = 0U; |
| 24756 | motor_DWork.is_c3_motor = motor_IN_NO_ACTIVE_CHILD; |
| 24757 | motor_DWork.Cur_Limit = 0U; |
| 24758 | motor_DWork.Temp_Up_Limit = 0U; |
| 24759 | motor_DWork.PWM_Value_Mid = 0U; |
| 24760 | motor_DWork.Encode_Sp_Min = 0U; |
| 24761 | motor_DWork.Encode_Pos1 = 0; |
| 24762 | motor_DWork.Encode_Pos2 = 0; |
| 24763 | motor_DWork.Encode_Pos3 = 0; |
| 24764 | motor_DWork.Encode_Pos_Zero = 0U; |
| 24765 | motor_DWork.Ts = 0.0; |
| 24766 | motor_DWork.JD_Max = 0U; |
| 24767 | motor_DWork.Encode_Sp_Max = 0U; |
| 24768 | motor_DWork.cur_i = 0U; |
| 24769 | motor_DWork.Temp_Down_Limit = 0U; |
| 24770 | motor_DWork.In_State = 0U; |
| 24771 | motor_DWork.Enc_i = 0U; |
| 24772 | motor_DWork.can1_i = 0U; |
| 24773 | motor_DWork.GXDY_i = 0U; |
| 24774 | motor_DWork.Cur_GZ_Limit = 0U; |
| 24775 | motor_DWork.Encode_Pos0 = 0.0; |
| 24776 | motor_DWork.Showing_Angle0 = 0.0; |
| 24777 | motor_DWork.Showing_Angle_Last = 0.0; |
| 24778 | motor_DWork.Showing_T_Last = 0.0; |
| 24779 | motor_DWork.Average_En = 0.0; |
| 24780 | motor_DWork.XiaoDaShen = 0.0; |
| 24781 | motor_DWork.Cur_GZ_Limit_Down = 0.0; |
| 24782 | motor_DWork.Cur_Limit_Down = 0.0; |
| 24783 | motor_DWork.Runing_stable = 0U; |
| 24784 | |
| 24785 | /* InitializeConditions for Outport: '<Root>/Ini_Result' */ |
| 24786 | motor_Y.Ini_Result = 0U; |
| 24787 | |
| 24788 | /* InitializeConditions for Outport: '<Root>/Flag_Cur' */ |
| 24789 | motor_Y.Flag_Cur = 0U; |
| 24790 | |
| 24791 | /* InitializeConditions for Outport: '<Root>/Motor_En' */ |
| 24792 | motor_Y.Motor_En = false; |
| 24793 | |
| 24794 | /* InitializeConditions for Outport: '<Root>/Flag_Temp_Up' */ |
| 24795 | motor_Y.Flag_Temp_Up = 0U; |
| 24796 | |
| 24797 | /* InitializeConditions for Outport: '<Root>/Open_Result' */ |
| 24798 | motor_Y.Open_Result = 0U; |
| 24799 | |
| 24800 | /* InitializeConditions for Outport: '<Root>/Encode_Pos' */ |
| 24801 | motor_Y.Encode_Pos = 0; |
| 24802 | |
| 24803 | /* InitializeConditions for Outport: '<Root>/PWMOUT' */ |
| 24804 | motor_Y.PWMOUT = 0U; |
| 24805 | |
| 24806 | /* InitializeConditions for Outport: '<Root>/Flag_Temp_Down' */ |
| 24807 | motor_Y.Flag_Temp_Down = 0U; |
| 24808 | |
| 24809 | /* InitializeConditions for Outport: '<Root>/QDQ_BJ' */ |
| 24810 | motor_Y.QDQ_BJ = 0U; |
| 24811 | |
| 24812 | /* InitializeConditions for Outport: '<Root>/QDQ_XH' */ |
| 24813 | motor_Y.QDQ_XH = true; |
| 24814 | |
| 24815 | /* InitializeConditions for Outport: '<Root>/QDQ_HY' */ |
| 24816 | motor_Y.QDQ_HY = true; |
| 24817 | |
| 24818 | /* InitializeConditions for Outport: '<Root>/Flag_Up_limit' */ |
| 24819 | motor_Y.Flag_Up_limit = 0U; |
| 24820 | |
| 24821 | /* InitializeConditions for Outport: '<Root>/Flag_Down_limit' */ |
| 24822 | motor_Y.Flag_Down_limit = 0U; |
| 24823 | |
| 24824 | /* InitializeConditions for Outport: '<Root>/Flag_Enc_Error' */ |
| 24825 | motor_Y.Flag_Enc_Error = 0U; |
| 24826 | |
| 24827 | /* InitializeConditions for Outport: '<Root>/Flag_Motor_Error' */ |
| 24828 | motor_Y.Flag_Motor_Error = 0U; |
| 24829 | |
| 24830 | /* InitializeConditions for Outport: '<Root>/DCZD' */ |
| 24831 | motor_Y.DCZD = false; |
| 24832 | |
| 24833 | /* InitializeConditions for Outport: '<Root>/Flag_GXDY_Error' */ |
| 24834 | motor_Y.Flag_GXDY_Error = 0U; |
| 24835 | |
| 24836 | /* InitializeConditions for Outport: '<Root>/Flag_GXDY_IT' */ |
| 24837 | motor_Y.Flag_GXDY_IT = 0U; |
| 24838 | |
| 24839 | /* InitializeConditions for Outport: '<Root>/JD_Error' */ |
| 24840 | motor_Y.JD_Error = 0; |
| 24841 | |
| 24842 | /* InitializeConditions for Outport: '<Root>/JD_Out' */ |
| 24843 | motor_Y.JD_Out = 0; |
| 24844 | |
| 24845 | /* InitializeConditions for Outport: '<Root>/SGWY_Out' */ |
| 24846 | motor_Y.SGWY_Out = 0; |
| 24847 | |
| 24848 | /* InitializeConditions for Outport: '<Root>/Flag_GZ_Cur' */ |
| 24849 | motor_Y.Flag_GZ_Cur = 0U; |
| 24850 | |
| 24851 | /* InitializeConditions for Outport: '<Root>/Flag_Up_GZ_limit' */ |
| 24852 | motor_Y.Flag_Up_GZ_limit = 0U; |
| 24853 | |
| 24854 | /* InitializeConditions for Outport: '<Root>/Flag_Down_GZ_limit' */ |
| 24855 | motor_Y.Flag_Down_GZ_limit = 0U; |
| 24856 | |
| 24857 | /* InitializeConditions for Outport: '<Root>/Alarm_Cunt' */ |
| 24858 | motor_Y.Alarm_Cunt = 0U; |
| 24859 | |
| 24860 | /* InitializeConditions for Outport: '<Root>/dSpace_Init' */ |
| 24861 | motor_Y.dSpace_Init = 0U; |
| 24862 | |
| 24863 | /* InitializeConditions for Outport: '<Root>/Flag_AngleError' */ |
| 24864 | motor_Y.Flag_AngleError = 0U; |
| 24865 | |
| 24866 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24867 | * InitializeConditions for SubSystem: '<S1>/Motor_XHHY' |
| 24868 | */ |
| 24869 | motor_Motor_XHHY_Init(motor_M, &motor_DWork.Motor_XHHY, |
| 24870 | (rtP_Motor_XHHY_motor *)&motor_P.Motor_XHHY); |
| 24871 | |
| 24872 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24873 | * InitializeConditions for SubSystem: '<S1>/Open_Motor' |
| 24874 | */ |
| 24875 | prevT_idx_0 = motor_M->Timing.clockTick0; |
| 24876 | prevT_idx_1 = motor_M->Timing.clockTickH0; |
| 24877 | motor_DWork.Open_Motor_PREV_T[0] = prevT_idx_0; |
| 24878 | motor_DWork.Open_Motor_PREV_T[1] = prevT_idx_1; |
| 24879 | |
| 24880 | /* InitializeConditions for DiscreteIntegrator: '<S66>/Discrete-Time Integrator' */ |
| 24881 | motor_DWork.DiscreteTimeIntegrator_DSTATE = |
| 24882 | motor_P.DiscreteTimeIntegrator_IC; |
| 24883 | motor_DWork.DiscreteTimeIntegrator_PrevRese = 2; |
| 24884 | |
| 24885 | /* InitializeConditions for DiscreteIntegrator: '<S66>/Discrete-Time Integrator1' */ |
| 24886 | motor_DWork.DiscreteTimeIntegrator1_DSTATE = |
| 24887 | motor_P.DiscreteTimeIntegrator1_IC; |
| 24888 | |
| 24889 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24890 | * InitializeConditions for SubSystem: '<S1>/Motor_HYDG' |
| 24891 | */ |
| 24892 | motor_Motor_HYDG_Init(motor_M, &motor_DWork.Motor_HYDG, |
| 24893 | (rtP_Motor_HYDG_motor *)&motor_P.Motor_HYDG); |
| 24894 | |
| 24895 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24896 | * InitializeConditions for SubSystem: '<S1>/Motor_XHZY' |
| 24897 | */ |
| 24898 | motor_Motor_XHZY_Init(motor_M, &motor_DWork.Motor_XHZY, |
| 24899 | (rtP_Motor_XHZY_motor *)&motor_P.Motor_XHZY); |
| 24900 | |
| 24901 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24902 | * InitializeConditions for SubSystem: '<S1>/COM_Error' |
| 24903 | */ |
| 24904 | /* InitializeConditions for UnitDelay: '<S6>/Unit Delay' */ |
| 24905 | motor_DWork.UnitDelay_DSTATE = motor_P.UnitDelay_InitialCondition; |
| 24906 | |
| 24907 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24908 | * InitializeConditions for SubSystem: '<S1>/Motor_HYDG1' |
| 24909 | */ |
| 24910 | motor_Motor_HYDG1_Init(motor_M, &motor_DWork.Motor_HYDG1, |
| 24911 | (rtP_Motor_HYDG1_motor *)&motor_P.Motor_HYDG1); |
| 24912 | |
| 24913 | /* InitializeConditions for Chart: '<Root>/Chart' incorporates: |
| 24914 | * InitializeConditions for SubSystem: '<S1>/Waveform_Build' |
| 24915 | */ |
| 24916 | motor_Waveform_Build_Init(motor_M, &motor_DWork.Waveform_Build, |
| 24917 | (rtP_Waveform_Build_motor *)&motor_P.Waveform_Build); |
| 24918 | } |
| 24919 | } |
| 24920 | |
| 24921 | /* Model terminate function */ |
| 24922 | void motor_terminate(void) |
| 24923 | { |
| 24924 | /* (no terminate code required) */ |
| 24925 | } |
| 24926 | |
| 24927 | /* |
| 24928 | * File trailer for generated code. |
| 24929 | * |
| 24930 | * [EOF] |
| 24931 | */ |
| 24932 | |